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Rename 'depth_brightness' to 'mean_intensity_set_point', keep old param for compatibility

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yalian
2025-08-07 08:33:24 -04:00
parent 8882ad08e9
commit 97e7aa524d
11 changed files with 140 additions and 16 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -4
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@@ -572,15 +572,15 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_depth_auto_exposure_priority);
}
if (depth_brightness_ != -1 &&
if (mean_intensity_set_point_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
if (depth_brightness_ < range.min || depth_brightness_ > range.max) {
if (mean_intensity_set_point_ < range.min || mean_intensity_set_point_ > range.max) {
RCLCPP_ERROR(logger_, "depth brightness value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << depth_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_brightness_);
RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << mean_intensity_set_point_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, mean_intensity_set_point_);
}
}
// ir ae max
@@ -1673,6 +1673,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
setAndGetNodeParameter<int>(depth_brightness_, "depth_brightness", -1);
setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point", depth_brightness_);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);