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[laser control]fix laser settings

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This commit is contained in:
jj
2024-11-26 17:14:15 +08:00
parent f7a80df722
commit 472dd9b40f
1 changed files with 13 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+13 -5
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@@ -219,7 +219,11 @@ void OBCameraNode::setupDevices() {
} }
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_); RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_); if (isGemini335PID(pid)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
}
} }
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_); RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
@@ -436,25 +440,29 @@ void OBCameraNode::setupDevices() {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff = auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT); device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_,"default_noise_removal_filter_min_diff: " << default_noise_removal_filter_min_diff); RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_min_diff: "
<< default_noise_removal_filter_min_diff);
if (noise_removal_filter_min_diff_ != -1 && if (noise_removal_filter_min_diff_ != -1 &&
default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) { default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, noise_removal_filter_min_diff_); device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, noise_removal_filter_min_diff_);
auto new_noise_removal_filter_min_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT); auto new_noise_removal_filter_min_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_,"after set noise_removal_filter_min_diff: " << new_noise_removal_filter_min_diff); RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_min_diff: "
<< new_noise_removal_filter_min_diff);
} }
} }
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size = auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT); device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,"default_noise_removal_filter_max_size: " << default_noise_removal_filter_max_size); RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_max_size: "
<< default_noise_removal_filter_max_size);
if (noise_removal_filter_max_size_ != -1 && if (noise_removal_filter_max_size_ != -1 &&
default_noise_removal_filter_max_size != noise_removal_filter_max_size_) { default_noise_removal_filter_max_size != noise_removal_filter_max_size_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, noise_removal_filter_max_size_); device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, noise_removal_filter_max_size_);
auto new_noise_removal_filter_max_size = auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT); device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,"after set noise_removal_filter_max_size: " << new_noise_removal_filter_max_size); RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_max_size: "
<< new_noise_removal_filter_max_size);
} }
} }
} }