i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-09 22:29:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add repetitive_scan_mode ,filter_level and vertical_fov params

Browse Source
This commit is contained in:
jj
2025-07-03 14:30:35 +08:00
parent c5e5d7646e
commit be19842c40
3 changed files with 50 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_lidar_node.cpp
+44
View File
@@ -144,6 +144,9 @@ void OBLidarNode::getParameters() {
setAndGetNodeParameter<float>(max_angle_, "max_angle", 135.0);
setAndGetNodeParameter<float>(min_range_, "min_range", 0.05);
setAndGetNodeParameter<float>(max_range_, "max_range", 30.0);
setAndGetNodeParameter<int>(repetitive_scan_mode_, "repetitive_scan_mode", -1);
setAndGetNodeParameter<int>(filter_level_, "filter_level", -1);
setAndGetNodeParameter<float>(vertical_fov_, "vertical_fov", -1.0);
}
void OBLidarNode::setupDevices() {
@@ -176,6 +179,47 @@ void OBLidarNode::setupDevices() {
<< (device_->getIntProperty(OB_PROP_LIDAR_ECHO_MODE_INT) ? "First Echo"
: "Last Echo"));
}
if (repetitive_scan_mode_ != -1 &&
device_->isPropertySupported(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
OB_PERMISSION_READ_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT);
if (repetitive_scan_mode_ <= range.min || repetitive_scan_mode_ >= range.max) {
RCLCPP_ERROR(logger_,
"repetitive scan mode value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
repetitive_scan_mode_);
RCLCPP_INFO_STREAM(logger_, "Setting repetitive scan mode to " << device_->getIntProperty(
OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT));
}
}
if (filter_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT);
if (filter_level_ <= range.min || filter_level_ >= range.max) {
RCLCPP_ERROR(logger_, "filter level value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, filter_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_APPLY_CONFIGS_INT, 1);
RCLCPP_INFO_STREAM(logger_, "Setting filter level to " << device_->getIntProperty(
OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT));
}
}
if (vertical_fov_ != -1.0 &&
device_->isPropertySupported(OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, OB_PERMISSION_READ_WRITE)) {
auto range = device_->getFloatPropertyRange(OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT);
if (vertical_fov_ <= range.min || vertical_fov_ >= range.max) {
RCLCPP_ERROR(logger_, "vertical fov value is out of range[%f,%f], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setFloatProperty, OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, vertical_fov_);
RCLCPP_INFO_STREAM(logger_, "Setting vertical fov to " << device_->getFloatProperty(
OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT));
}
}
}
void OBLidarNode::setupProfiles() {