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jj
2024-09-23 21:33:54 +08:00
parent bbed84961a
commit 15c3034f4c
24 changed files with 228 additions and 241 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -6
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@@ -379,21 +379,25 @@ void OBCameraNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
if (color_ae_max_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color AE max exposure to " << color_ae_max_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, color_ae_max_exposure_);
}
if (device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
if (color_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
}
// ir ae max
if (device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
if (ir_ae_max_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting IR AE max exposure to " << ir_ae_max_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_AE_MAX_EXPOSURE_INT, ir_ae_max_exposure_);
}
// ir brightness
if (device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
if (ir_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting IR brightness to " << ir_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, ir_brightness_);
}
@@ -2060,9 +2064,14 @@ void OBCameraNode::publishMetadata(const std::shared_ptr<ob::Frame> &frame,
void OBCameraNode::saveImageToFile(const stream_index_pair &stream_index, const cv::Mat &image,
const sensor_msgs::msg::Image &image_msg) {
if (save_images_[stream_index]) {
auto now = time(nullptr);
auto now = std::chrono::system_clock::now();
auto in_time_t = std::chrono::system_clock::to_time_t(now);
auto us =
std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()) % 1000000;
std::stringstream ss;
ss << std::put_time(localtime(&now), "%Y%m%d_%H%M%S");
ss << std::put_time(std::localtime(&in_time_t), "%Y%m%d_%H%M%S");
ss << "_" << std::setw(6) << std::setfill('0') << us.count();
auto current_path = std::filesystem::current_path().string();
auto fps = fps_[stream_index];
int index = save_images_count_[stream_index];