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fix: ignore MJPEG quality for non-MJPEG formats

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ob-yalian
2026-09-20 17:00:54 +08:00
parent 28e247844e
commit dfa44a5172
1 changed files with 6 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6 -1
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@@ -1473,7 +1473,9 @@ void OBCameraNode::setupDevices() {
logger_, "Current color gain: " << device_->getIntProperty(OB_PROP_COLOR_GAIN_INT))); logger_, "Current color gain: " << device_->getIntProperty(OB_PROP_COLOR_GAIN_INT)));
} }
} }
if (color_mjpeg_quality_ != -1) { if (color_mjpeg_quality_ != -1 &&
(format_[COLOR] == OB_FORMAT_UNKNOWN || format_[COLOR] == OB_FORMAT_MJPG ||
format_[COLOR] == OB_FORMAT_MJPEG)) {
if (!device_->isPropertySupported(OB_PROP_MJPEG_QUALITY_INT, OB_PERMISSION_WRITE)) { if (!device_->isPropertySupported(OB_PROP_MJPEG_QUALITY_INT, OB_PERMISSION_WRITE)) {
RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is not supported by this device"); RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is not supported by this device");
} else { } else {
@@ -1489,6 +1491,9 @@ void OBCameraNode::setupDevices() {
"Current color MJPEG quality: " << device_->getIntProperty(OB_PROP_MJPEG_QUALITY_INT))); "Current color MJPEG quality: " << device_->getIntProperty(OB_PROP_MJPEG_QUALITY_INT)));
} }
} }
} else if (color_mjpeg_quality_ != -1) {
RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is ignored because color format is "
<< format_str_[COLOR] << "; MJPG/MJPEG is required");
} }
if (should_apply_launch_config("enable_color_auto_exposure_priority") && if (should_apply_launch_config("enable_color_auto_exposure_priority") &&
device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {