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fix: update depth stream checks in setupDevices for sensor availability

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slz
2026-01-16 11:37:19 +08:00
parent ace4d93594
commit f67742a55e
1 changed files with 5 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -5
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@@ -376,7 +376,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
if (enable_stream_[DEPTH] &&
if (sensors_.find(DEPTH) != sensors_.end() &&
device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE) &&
device_->isPropertySupported(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
if (disparity_to_depth_mode_ == "HW") {
@@ -583,7 +583,7 @@ void OBCameraNode::setupDevices() {
}
}
if (enable_stream_[DEPTH] &&
if (sensors_.find(DEPTH) != sensors_.end() &&
device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_noise_removal_filter_);
RCLCPP_INFO_STREAM(
@@ -782,7 +782,7 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_GAIN_INT, depth_gain_);
}
}
if (enable_stream_[DEPTH] &&
if (sensors_.find(DEPTH) != sensors_.end() &&
device_->isPropertySupported(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
int set_enable_depth_auto_exposure_priority = enable_depth_auto_exposure_priority_ ? 1 : 0;
RCLCPP_INFO_STREAM(logger_, "Setting depth auto exposure priority to "
@@ -858,7 +858,7 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_);
}
if (enable_stream_[DEPTH] &&
if (sensors_.find(DEPTH) != sensors_.end() &&
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
@@ -883,7 +883,7 @@ void OBCameraNode::setupDevices() {
}
}
if (enable_stream_[DEPTH] &&
if (sensors_.find(DEPTH) != sensors_.end() &&
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);