From cb60276274629449fb7fb01706561c0b8f813bf7 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 13 Apr 2026 21:01:41 +0800 Subject: [PATCH] fix: standardize PID naming for Gemini 338 series in constants and service files --- orbbec_camera/include/orbbec_camera/constants.h | 4 ++-- orbbec_camera/src/ros_service.cpp | 2 +- orbbec_camera/tools/multi_save_rgbir.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/orbbec_camera/include/orbbec_camera/constants.h b/orbbec_camera/include/orbbec_camera/constants.h index 304a85da..7592ffe7 100644 --- a/orbbec_camera/include/orbbec_camera/constants.h +++ b/orbbec_camera/include/orbbec_camera/constants.h @@ -139,8 +139,8 @@ const int32_t GEMINI_435Le_PID = 0x815; // Gemini 435Le const int32_t GEMINI_305_PID = 0x0840; // Gemini 305 const int32_t GEMINI_305_PID2 = 0x0841; // Gemini 305 const int32_t GEMINI_305G_PID = 0x0842; // Gemini 305g -const int32_t GEMINI_338Lg_PID = 0x081A; // Gemini 338Lg -const int32_t GEMINI_338Le_PID = 0x081B; // Gemini 338Le +const int32_t GEMINI_338LG_PID = 0x081A; // Gemini 338Lg +const int32_t GEMINI_338LE_PID = 0x081B; // Gemini 338Le const int32_t GEMINI_338L_PID = 0x081C; // Gemini 338L const int32_t GEMINI_331L_PID = 0x081D; // Gemini 331L diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp index 8c5025da..e6ee001a 100644 --- a/orbbec_camera/src/ros_service.cpp +++ b/orbbec_camera/src/ros_service.cpp @@ -28,7 +28,7 @@ bool isGemini330SeriesForDisparity(uint32_t pid) { return pid == GEMINI_335_PID || pid == GEMINI_336_PID || pid == GEMINI_330_PID || pid == GEMINI_335L_PID || pid == GEMINI_336L_PID || pid == GEMINI_330L_PID || pid == GEMINI_335LG_PID || pid == GEMINI_335LE_PID || pid == GEMINI_338_PID || - pid == GEMINI_338Lg_PID || pid == GEMINI_338Le_PID || pid == GEMINI_338L_PID || + pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID || pid == GEMINI_331L_PID; } diff --git a/orbbec_camera/tools/multi_save_rgbir.cpp b/orbbec_camera/tools/multi_save_rgbir.cpp index 8ea8857e..5efa13be 100644 --- a/orbbec_camera/tools/multi_save_rgbir.cpp +++ b/orbbec_camera/tools/multi_save_rgbir.cpp @@ -85,7 +85,7 @@ class MultiCameraSubscriber : public rclcpp::Node { 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_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID || pid == GEMINI_331L_PID; } void params_init() {