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fixed g330 depth

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This commit is contained in:
Joe Dong
2024-08-13 16:13:50 +08:00
parent 455f002943
commit e10aeab340
1 changed files with 12 additions and 11 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -11
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@@ -169,7 +169,8 @@ void OBCameraNode::setupDevices() {
} }
} }
auto info = device_->getDeviceInfo(); auto info = device_->getDeviceInfo();
if (device_->isPropertySupported(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL, if (retry_on_usb3_detection_failure_ &&
device_->isPropertySupported(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
OB_PERMISSION_READ_WRITE)) { OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_); retry_on_usb3_detection_failure_);
@@ -373,7 +374,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value", RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
range.min, range.max); range.min, range.max);
} else { } else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_EXPOSURE_INT, ir_exposure_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_EXPOSURE_INT, ir_exposure_);
} }
} }
if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) { if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) {
@@ -388,7 +389,7 @@ void OBCameraNode::setupDevices() {
} }
if (device_->isPropertySupported(OB_PROP_IR_LONG_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_IR_LONG_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_);
} }
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
@@ -1054,14 +1055,14 @@ void OBCameraNode::getParameters() {
void OBCameraNode::setupTopics() { void OBCameraNode::setupTopics() {
try { try {
getParameters(); getParameters();
setupDevices(); setupDevices();
setupDepthPostProcessFilter(); setupDepthPostProcessFilter();
setupProfiles(); setupProfiles();
selectBaseStream(); selectBaseStream();
setupCameraCtrlServices(); setupCameraCtrlServices();
setupPublishers(); setupPublishers();
setupDiagnosticUpdater(); setupDiagnosticUpdater();
} catch (const ob::Error &e) { } catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage()); RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage());
} catch (const std::exception &e) { } catch (const std::exception &e) {