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Add min depth and max depth limit

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This commit is contained in:
Joe Dong
2024-07-17 10:37:58 +08:00
parent e9f053f47f
commit 08037f1289
2 changed files with 13 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10
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@@ -155,6 +155,14 @@ void OBCameraNode::setupDevices() {
device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
}
if (max_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_MAX_DEPTH_INT, max_depth_limit_);
}
if (min_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MIN_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_MIN_DEPTH_INT, min_depth_limit_);
}
if (laser_energy_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser energy level to " << laser_energy_level_);
@@ -1001,6 +1009,8 @@ void OBCameraNode::getParameters() {
if (enable_3d_reconstruction_mode_) {
laser_on_off_mode_ = 1; // 0 off, 1 on-off, 1 off-on
}
setAndGetNodeParameter<int>(min_depth_limit_, "min_depth_limit", 0);
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
}
void OBCameraNode::setupTopics() {