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Add laser energy level param limit

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This commit is contained in:
Joe Dong
2024-06-13 11:20:40 +08:00
parent 1e3bbed118
commit 0b08f6192c
1 changed files with 10 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -4
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@@ -143,10 +143,16 @@ void OBCameraNode::setupDevices() {
if (laser_energy_level_ != -1 && if (laser_energy_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) { device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser energy level to " << laser_energy_level_); RCLCPP_INFO_STREAM(logger_, "Setting laser energy level to " << laser_energy_level_);
device_->setIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT, laser_energy_level_); auto range = device_->getIntPropertyRange(OB_PROP_LASER_ENERGY_LEVEL_INT);
auto new_laser_energy_level = device_->getIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT); if (laser_energy_level_ < range.min || laser_energy_level_ > range.max) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_ERROR_STREAM(
"Laser energy level set to " << new_laser_energy_level << " (new value)"); logger_, "Laser energy level is out of range " << range.min << " - " << range.max);
} else {
device_->setIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT, laser_energy_level_);
auto new_laser_energy_level = device_->getIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT);
RCLCPP_INFO_STREAM(
logger_, "Laser energy level set to " << new_laser_energy_level << " (new value)");
}
} }
if (depth_registration_) { if (depth_registration_) {
align_filter_ = std::make_unique<ob::Align>(align_target_stream_); align_filter_ = std::make_unique<ob::Align>(align_target_stream_);