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realsense2: add enable_depth flag to disable publishing point clouds #339

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realsense2: add enable_depth flag to disable publishing point clouds #339

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9 changes: 3 additions & 6 deletions src/plugins/realsense2/realsense2_thread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_ =
Expand Down Expand Up @@ -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_) {
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1 change: 1 addition & 0 deletions src/plugins/realsense2/realsense2_thread.h
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Expand Up @@ -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;

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