chore: Add LDP switch

jian-dong · jian-dong · commit af3941074c83 · 2024-06-20T17:38:47.000+08:00
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
@@ -164,6 +164,9 @@ void OBCameraNode::setupDevices() {
       std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
       RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
     }
+    if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
+      device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);
+    }
     if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
       device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
     }

Original file line number	Diff line number	Diff line change
`@@ -164,6 +164,9 @@ void OBCameraNode::setupDevices() {`
`164`	`164`	`std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";`
`165`	`165`	`RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);`
`166`	`166`	`}`
	`167`	`+ if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {`
	`168`	`+ device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);`
	`169`	`+ }`
`167`	`170`	`if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {`
`168`	`171`	`device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);`
`169`	`172`	`}`