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[launch]Set the default values ​​of disparity_search_offset, offset_index0, and offset_index1 to -1

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This commit is contained in:
jj
2025-01-15 22:52:46 +08:00
parent 65fb578005
commit 0091d3a1b9
3 changed files with 27 additions and 22 deletions
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orbbec_camera/src/ob_camera_node.cpp
+21 -16
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@@ -1316,10 +1316,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(laser_index0_ir_ae_max_exposure_, "laser_index0_ir_ae_max_exposure",
17000);
setAndGetNodeParameter<int>(disparity_range_mode_, "disparity_range_mode", -1);
setAndGetNodeParameter<int>(disparity_search_offset_, "disparity_search_offset", 0);
setAndGetNodeParameter<int>(disparity_search_offset_, "disparity_search_offset", -1);
setAndGetNodeParameter<bool>(disparity_offset_config_, "disparity_offset_config", false);
setAndGetNodeParameter<int>(offset_index0_, "offset_index0", 0);
setAndGetNodeParameter<int>(offset_index1_, "offset_index1", 0);
setAndGetNodeParameter<int>(offset_index0_, "offset_index0", -1);
setAndGetNodeParameter<int>(offset_index1_, "offset_index1", -1);
setAndGetNodeParameter<std::string>(frame_aggregate_mode_, "frame_aggregate_mode", "ANY");
@@ -1870,20 +1870,25 @@ void OBCameraNode::setDisparitySearchOffset() {
return;
}
if (device_->isPropertySupported(OB_PROP_DISP_SEARCH_OFFSET_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
auto config = OBDispOffsetConfig();
config.enable = disparity_offset_config_;
config.offset0 = offset_index0_;
config.offset1 = offset_index1_;
config.reserved = 0;
has_run = true;
device_->setStructuredData(OB_STRUCT_DISP_OFFSET_CONFIG,
reinterpret_cast<const uint8_t *>(&config), sizeof(config));
RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: "
<< disparity_offset_config_ << " offset_index0:"
<< offset_index0_ << " offset_index1:" << offset_index1_);
if (disparity_search_offset_ != -1) {
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
}
if (offset_index0_ != -1 && offset_index1_ != -1) {
auto config = OBDispOffsetConfig();
config.enable = disparity_offset_config_;
config.offset0 = offset_index0_;
config.offset1 = offset_index1_;
config.reserved = 0;
device_->setStructuredData(OB_STRUCT_DISP_OFFSET_CONFIG,
reinterpret_cast<const uint8_t *>(&config), sizeof(config));
RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: "
<< disparity_offset_config_ << " offset_index0:"
<< offset_index0_ << " offset_index1:" << offset_index1_);
}
}
has_run = true;
}
uint64_t OBCameraNode::getFrameTimestampUs(const std::shared_ptr<ob::Frame> &frame) {