i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 03:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rename depth_mean_intensity_set_point to depth_brightness

Browse Source
This commit is contained in:
jj
2025-02-25 12:22:18 +08:00
parent 0ef4a5738c
commit d5869eed1d
3 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
View File
@@ -509,7 +509,7 @@ class OBCameraNode {
int color_constrast_ = -1; int color_constrast_ = -1;
int color_hue_ = -1; int color_hue_ = -1;
bool enable_color_backlight_compenstation_ = false; bool enable_color_backlight_compenstation_ = false;
int depth_mean_intensity_set_point_ = -1; int depth_brightness_ = -1;
int ir_exposure_ = -1; int ir_exposure_ = -1;
int ir_gain_ = -1; int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1; int ir_ae_max_exposure_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
View File
@@ -91,7 +91,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_qos', default_value='default'), DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_mean_intensity_set_point', default_value='-1'), DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'), DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'), DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'), DeclareLaunchArgument('left_ir_fps', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+7 -7
View File
@@ -483,20 +483,20 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_depth_auto_exposure_priority); set_enable_depth_auto_exposure_priority);
} }
if (depth_mean_intensity_set_point_ != -1 && if (depth_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT); auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
if (depth_mean_intensity_set_point_ < range.min || if (depth_brightness_ < range.min ||
depth_mean_intensity_set_point_ > range.max) { depth_brightness_ > range.max) {
RCLCPP_ERROR( RCLCPP_ERROR(
logger_, logger_,
"depth mean intensity set point value is out of range[%d,%d], please check the value", "depth brightness value is out of range[%d,%d], please check the value",
range.min, range.max); range.min, range.max);
} else { } else {
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
logger_, "Setting depth mean intensity set point to " << depth_mean_intensity_set_point_); logger_, "Setting depth brightness to " << depth_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT,
depth_mean_intensity_set_point_); depth_brightness_);
} }
} }
// ir ae max // ir ae max
@@ -1359,7 +1359,7 @@ void OBCameraNode::getParameters() {
"enable_color_backlight_compenstation", false); "enable_color_backlight_compenstation", false);
setAndGetNodeParameter(enable_depth_auto_exposure_priority_, setAndGetNodeParameter(enable_depth_auto_exposure_priority_,
"enable_depth_auto_exposure_priority", false); "enable_depth_auto_exposure_priority", false);
setAndGetNodeParameter(depth_mean_intensity_set_point_, "depth_mean_intensity_set_point", -1); setAndGetNodeParameter(depth_brightness_, "depth_brightness", -1);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true); setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1); setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1); setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);