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Implementing flip function for data stream.

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This commit is contained in:
lixiaobin
2023-10-27 18:05:04 +08:00
parent 6ea01224c7
commit b78910b895
3 changed files with 26 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+25
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@@ -149,6 +149,29 @@ void OBCameraNode::setupDevices() {
}
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
OBPropertyID mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
if(stream_index == COLOR){
mirrorPropertyID = OB_PROP_COLOR_MIRROR_BOOL;
} else if(stream_index == DEPTH) {
mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
} else if(stream_index == INFRA0) {
mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
} else if(stream_index == INFRA1) {
mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
}
else if(stream_index == INFRA2) {
mirrorPropertyID = OB_PROP_IR_RIGHT_MIRROR_BOOL;
}
if(device_->isPropertySupported(mirrorPropertyID, OB_PERMISSION_WRITE)) {
device_->setBoolProperty(mirrorPropertyID, flip_stream_[stream_index]);
}
}
}
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
device_->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, enable_color_auto_exposure_);
device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
@@ -374,6 +397,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(fps_[stream_index], param_name, IMAGE_FPS);
param_name = "enable_" + stream_name_[stream_index];
setAndGetNodeParameter(enable_stream_[stream_index], param_name, false);
param_name = "flip_" + stream_name_[stream_index];
setAndGetNodeParameter(flip_stream_[stream_index], param_name, false);
param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);