From 6ef05d982d042290c7198933e61b8b4f22f9dafa Mon Sep 17 00:00:00 2001 From: Matteo Tschesche Date: Sun, 10 Jul 2022 12:33:52 +0200 Subject: [PATCH] realsense2: add enable_depth flag to disable publishing point clouds --- src/plugins/realsense2/realsense2_thread.cpp | 9 +++------ src/plugins/realsense2/realsense2_thread.h | 1 + 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/src/plugins/realsense2/realsense2_thread.cpp b/src/plugins/realsense2/realsense2_thread.cpp index 7c09eff96d..2eefc87ecb 100644 --- a/src/plugins/realsense2/realsense2_thread.cpp +++ b/src/plugins/realsense2/realsense2_thread.cpp @@ -56,6 +56,7 @@ Realsense2Thread::init() laser_power_ = config->get_float_or_default((cfg_prefix + "laser_power").c_str(), -1); cfg_use_switch_ = config->get_bool_or_default((cfg_prefix + "use_switch").c_str(), true); + enable_depth_ = config->get_bool_or_default((cfg_prefix + "enable_depth").c_str(), false); //rgb image path rgb_path_ = @@ -143,14 +144,10 @@ Realsense2Thread::loop() } } - if (cfg_use_switch_) { - read_switch(); - } - - if (enable_camera_ && !depth_enabled_) { + if (enable_camera_ && enable_depth_ && !depth_enabled_) { enable_depth_stream(); return; - } else if (!enable_camera_ && depth_enabled_) { + } else if ((!enable_camera_ || !enable_depth_) && depth_enabled_) { disable_depth_stream(); return; } else if (!depth_enabled_) { diff --git a/src/plugins/realsense2/realsense2_thread.h b/src/plugins/realsense2/realsense2_thread.h index 263cd9a82d..de13900ba2 100644 --- a/src/plugins/realsense2/realsense2_thread.h +++ b/src/plugins/realsense2/realsense2_thread.h @@ -114,6 +114,7 @@ class Realsense2Thread : public fawkes::Thread, bool camera_running_ = false; bool enable_camera_ = true; bool depth_enabled_ = false; + bool enable_depth_ = false; uint restart_after_num_errors_; uint error_counter_ = 0;