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Add print default filter params

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This commit is contained in:
Joe Dong
2024-06-13 10:25:25 +08:00
parent 10148df62e
commit 419ebac090
1 changed files with 9 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9
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@@ -373,17 +373,26 @@ void OBCameraNode::setupDevices() {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default_soft_filter_max_diff: " << default_soft_filter_max_diff);
if (soft_filter_max_diff_ != -1 && default_soft_filter_max_diff != soft_filter_max_diff_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, soft_filter_max_diff_);
auto new_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set soft_filter_max_diff: " << new_soft_filter_max_diff);
}
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_soft_filter_speckle_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,
"default_soft_filter_speckle_size: " << default_soft_filter_speckle_size);
if (soft_filter_speckle_size_ != -1 &&
default_soft_filter_speckle_size != soft_filter_speckle_size_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, soft_filter_speckle_size_);
auto new_soft_filter_speckle_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,
"after set soft_filter_speckle_size: " << new_soft_filter_speckle_size);
}
}
} catch (const ob::Error &e) {