i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-10 06:29:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add validation for invalid property range (min > max)

Browse Source
This commit is contained in:
obyalian
2025-09-28 09:39:13 +08:00
parent 76be16fb6e
commit 1ab5000086
2 changed files with 26 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+18 -22
View File
@@ -145,8 +145,7 @@ void OBCameraNode::setupDevices() {
} else {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
}
else{
} else {
RCLCPP_WARN_STREAM(logger_, "Depth filter config is empty and soft filter is not supported");
}
}
@@ -181,9 +180,8 @@ void OBCameraNode::setupDevices() {
}
auto device_info = device_->getDeviceInfo();
auto pid = device_info->pid();
if (isGemini335PID(pid) &&device_->isPropertySupported(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_,"------------- Setting depth noise removal----------");
if (isGemini335PID(pid) && device_->isPropertySupported(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
enable_noise_removal_filter_);
}
@@ -383,8 +381,6 @@ void OBCameraNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color auto white balance to "
<< (enable_color_auto_white_balance_ ? "ON" : "OFF"));
@@ -625,14 +621,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_,
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params);
}
@@ -641,11 +637,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM(
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
<< "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig();
config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_;
@@ -728,10 +724,10 @@ void OBCameraNode::setupProfiles() {
throw std::runtime_error("Failed cast profile to VideoStreamProfile");
}
RCLCPP_DEBUG_STREAM(
logger_,
"Sensor profile: " << "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
logger_, "Sensor profile: "
<< "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
supported_profiles_[elem].emplace_back(profile);
}
std::shared_ptr<ob::VideoStreamProfile> selected_profile;
orbbec_camera/src/ros_service.cpp
+8
View File
@@ -406,6 +406,14 @@ void OBCameraNode::setAutoExposureCallback(
return;
}
auto range = device_->getIntPropertyRange(prop_id);
if (range.min > range.max) {
response->success = false;
response->message = "Property is not supported!";
RCLCPP_WARN_STREAM(logger_, "Property " << prop_id << " is not supported (min > max)");
return;
}
std::cout << range.min << " " << range.max << std::endl;
std::cout << request->data << std::endl;
if (request->data < range.min || request->data > range.max) {
response->success = false;
RCLCPP_INFO_STREAM(logger_, "set auto exposure value out of range");