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Fix the problem that the Femto series cannot set sync_mode

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This commit is contained in:
jj
2024-11-29 10:32:54 +08:00
parent 28a9eefc5d
commit 5cc4ee0756
1 changed files with 16 additions and 17 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -17
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@@ -245,8 +245,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_);
TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str()));
}
if (!sync_mode_str_.empty() && device_->isPropertySupported(OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL,
OB_PERMISSION_READ_WRITE)) {
if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
@@ -604,14 +603,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_,
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params);
}
@@ -620,11 +619,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
<< "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
RCLCPP_INFO_STREAM(
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig();
config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_;
@@ -707,10 +706,10 @@ void OBCameraNode::setupProfiles() {
throw std::runtime_error("Failed cast profile to VideoStreamProfile");
}
RCLCPP_DEBUG_STREAM(
logger_, "Sensor profile: "
<< "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
logger_,
"Sensor profile: " << "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
supported_profiles_[elem].emplace_back(profile);
}
std::shared_ptr<ob::VideoStreamProfile> selected_profile;