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[interleave_ae]Added parameter settings for interleave frames 0 and 1

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This commit is contained in:
jj
2024-12-06 10:26:06 +08:00
parent ea0a59394d
commit 78a69bab64
3 changed files with 122 additions and 22 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+24 -1
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@@ -296,7 +296,7 @@ class OBCameraNode {
void setSYNCInterleaveLaserCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -618,5 +618,28 @@ class OBCameraNode {
bool interleave_frame_enable_ = false;
bool interleave_skip_enable_ = false;
int interleave_skip_index_ = 1;
// hdr and laser interleave params
int hdr_index1_laser_control_ = 1;
int hdr_index1_depth_exposure_ = 1;
int hdr_index1_depth_gain_ = 16;
int hdr_index1_ir_brightness_ = 20;
int hdr_index1_ir_ae_max_exposure_ = 2000;
int hdr_index0_laser_control_ = 1;
int hdr_index0_depth_exposure_ = 7500;
int hdr_index0_depth_gain_ = 16;
int hdr_index0_ir_brightness_ = 60;
int hdr_index0_ir_ae_max_exposure_ = 10000;
int laser_index1_laser_control_ = 0;
int laser_index1_depth_exposure_ = 3000;
int laser_index1_depth_gain_ = 16;
int laser_index1_ir_brightness_ = 60;
int laser_index1_ir_ae_max_exposure_ = 7000;
int laser_index0_laser_control_ = 1;
int laser_index0_depth_exposure_ = 3000;
int laser_index0_depth_gain_ = 16;
int laser_index0_ir_brightness_ = 60;
int laser_index0_ir_ae_max_exposure_ = 17000;
};
} // namespace orbbec_camera