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Add load_config_json_file_path and export_config_json_file_path parameters

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This commit is contained in:
jj
2025-04-22 15:53:27 +08:00
parent 08a6f69390
commit 70c0a05718
3 changed files with 18 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -1
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@@ -645,10 +645,19 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_PERFORMANCE_MODE_INT, 1);
} else if (exposure_range_mode_ == "regular") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_PERFORMANCE_MODE_INT, 0);
} else {
} else {
RCLCPP_ERROR(logger_, "exposure range mode does not support this setting");
}
}
if (!load_config_json_file_path_.empty()) {
device_->loadPresetFromJsonFile(load_config_json_file_path_.c_str());
RCLCPP_INFO_STREAM(logger_, "Loading config json file path : " << load_config_json_file_path_);
}
if (!export_config_json_file_path_.empty()) {
device_->exportSettingsAsPresetJsonFile(export_config_json_file_path_.c_str());
RCLCPP_INFO_STREAM(logger_,
"Exporting config json file path : " << export_config_json_file_path_);
}
}
void OBCameraNode::setupColorPostProcessFilter() {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
@@ -1603,6 +1612,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "default");
setAndGetNodeParameter<std::string>(load_config_json_file_path_, "load_config_json_file_path",
"");
setAndGetNodeParameter<std::string>(export_config_json_file_path_, "export_config_json_file_path",
"");
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();