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Add enable_depth_auto_exposure_priority param

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This commit is contained in:
jj
2025-02-25 11:15:40 +08:00
parent 67e3c3970b
commit 25a7ecb439
3 changed files with 11 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9
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@@ -422,6 +422,13 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT,
set_enable_color_backlight_compenstation);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
int set_enable_depth_auto_exposure_priority = enable_depth_auto_exposure_priority_ ? 1 : 0;
RCLCPP_INFO_STREAM(logger_, "Setting depth auto exposure priority to "
<< (set_enable_depth_auto_exposure_priority ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_depth_auto_exposure_priority);
}
// ir ae max
if (ir_ae_max_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1267,6 +1274,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<bool>(enable_color_backlight_compenstation_,
"enable_color_backlight_compenstation", false);
setAndGetNodeParameter(enable_depth_auto_exposure_priority_,
"enable_depth_auto_exposure_priority", false);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);