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refactor: replace isGemini335PID with isGemini330SeriesPID for improved clarity and consistency

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This commit is contained in:
ob-yalian
2026-09-14 14:45:17 +08:00
parent ae44449e12
commit c4b6ef71ae
4 changed files with 27 additions and 25 deletions
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orbbec_camera/tools/multi_save_rgbir.cpp
+1 -10
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@@ -46,7 +46,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::string uid = device_info->uid();
auto usb_port = parseUsbPort(uid);
serial_numbers_[usb_port] = serial;
is_gemini330_ = isGemini335PID(pid);
is_gemini330_ = isGemini330SeriesPID(pid);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(get_logger(), orbbec_camera::formatObErrorWithStatus(e));
@@ -76,15 +76,6 @@ class MultiCameraSubscriber : public rclcpp::Node {
private:
std::mutex image_mutex_;
std::mutex meta_mutex_;
bool isGemini335PID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
}
void params_init() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/multisavergbir/"