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Add laser on off mode

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This commit is contained in:
Joe Dong
2024-04-18 10:19:32 +08:00
parent 037cc10163
commit 3bd7a69821
4 changed files with 11 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -1
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@@ -142,6 +142,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
}
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
device_->loadPreset(device_preset_.c_str());
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter
@@ -198,7 +199,7 @@ void OBCameraNode::setupDevices() {
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
noise_removal_filter->setFilterParams(params);
} else if (filter_name == "HdrMerge") {
} else if (filter_name == "HDRMerge") {
// do nothing
} else {
RCLCPP_INFO_STREAM(logger_, "Skip setting filter: " << filter_name);
@@ -725,6 +726,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
setAndGetNodeParameter<double>(diagnostic_period_, "diagnostic_period", 1.0);
setAndGetNodeParameter<bool>(enable_laser_, "enable_laser", false);
setAndGetNodeParameter<int>(laser_on_off_mode_, "laser_on_off_mode", 0);
}
void OBCameraNode::setupTopics() {