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update OrbbecSDK version to 2.7.2

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This commit is contained in:
ob-yalian
2026-01-22 10:48:12 +08:00
parent cb3096826a
commit 66aa6978b6
11 changed files with 29 additions and 26 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -5
View File
@@ -985,16 +985,16 @@ void OBCameraNode::setupDevices() {
RCLCPP_ERROR(logger_, "intra camera sync reference does not support this setting");
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_FAST_AE_BOOL, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_FAST_AE_BOOL, (enable_sports_mode_ ? 0 : 1));
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_STRATEGY_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, (enable_sports_mode_ ? 0 : 1));
RCLCPP_INFO_STREAM(logger_, "Setting Sports Mode to " << (enable_sports_mode_ ? "ON" : "OFF"));
}
if ((ae_mode_ == "depthbased" || ae_mode_ == "colorbased") &&
device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE)) {
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE)) {
device_->isPropertySupported(OB_PROP_DEVICE_AE_REFERENCE_INT, OB_PERMISSION_WRITE)) {
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_REFERENCE_INT, OB_PERMISSION_WRITE)) {
auto ae_mode = ae_mode_ == "depthbased" ? 0 : 1;
device_->setIntProperty(OB_PROP_COLOR_AE_MODE_INT, ae_mode);
device_->setIntProperty(OB_PROP_DEVICE_AE_REFERENCE_INT, ae_mode);
RCLCPP_INFO_STREAM(logger_, "Setting AE Mode to " << ae_mode_);
}
}
orbbec_camera/src/ros_service.cpp
+5 -4
View File
@@ -1482,9 +1482,10 @@ void OBCameraNode::getUserCalibParamsCallback(
void OBCameraNode::setAEModeCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
try {
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE) &&
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_REFERENCE_INT, OB_PERMISSION_WRITE) &&
(request->data == "depthbased" || request->data == "colorbased")) {
device_->setIntProperty(OB_PROP_COLOR_AE_MODE_INT, request->data == "depthbased" ? 0 : 1);
device_->setIntProperty(OB_PROP_DEVICE_AE_REFERENCE_INT,
request->data == "depthbased" ? 0 : 1);
response->success = true;
response->message = "set AE mode success";
} else {
@@ -1499,8 +1500,8 @@ void OBCameraNode::setAEModeCallback(const std::shared_ptr<SetString::Request>&
void OBCameraNode::setSportsModeCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response) {
try {
if (device_->isPropertySupported(OB_PROP_COLOR_FAST_AE_BOOL, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_FAST_AE_BOOL, request->data ? 1 : 0);
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_STRATEGY_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, request->data ? 1 : 0);
response->success = true;
response->message = "set sports mode success";
} else {