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Add depth_mean_intensity_set_point param

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This commit is contained in:
jj
2025-02-25 11:23:06 +08:00
parent 25a7ecb439
commit 07b06937f6
3 changed files with 10 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -1
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@@ -429,6 +429,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_depth_auto_exposure_priority);
}
if (depth_mean_intensity_set_point_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting depth mea intensity set point to " << depth_mean_intensity_set_point_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_mean_intensity_set_point_);
}
// ir ae max
if (ir_ae_max_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1274,8 +1280,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<bool>(enable_color_backlight_compenstation_,
"enable_color_backlight_compenstation", false);
setAndGetNodeParameter(enable_depth_auto_exposure_priority_,
setAndGetNodeParameter(enable_depth_auto_exposure_priority_,
"enable_depth_auto_exposure_priority", false);
setAndGetNodeParameter(depth_mean_intensity_set_point_, "depth_mean_intensity_set_point", -1);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);