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Add laser energy level param

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This commit is contained in:
Joe Dong
2024-06-13 11:08:20 +08:00
parent 419ebac090
commit 1e3bbed118
32 changed files with 41 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9
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@@ -140,6 +140,14 @@ void OBCameraNode::setupDevices() {
device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
}
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_);
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_) {
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
@@ -898,6 +906,7 @@ void OBCameraNode::getParameters() {
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
false);
setAndGetNodeParameter<int>(laser_energy_level_, "laser_energy_level", -1);
}
void OBCameraNode::setupTopics() {