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Add feature/astra_mini_pro

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This commit is contained in:
slz
2025-09-02 17:03:39 +08:00
committed by xiexun
parent 419c61dd22
commit e2e0664615
7 changed files with 554 additions and 18 deletions
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orbbec_camera/src/ob_camera_node.cpp
+24
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@@ -605,6 +605,28 @@ void OBCameraNode::setupDevices() {
}
RCLCPP_INFO_STREAM(logger_, "Setting color powerline freq to " << color_powerline_freq_);
}
if (depth_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_EXPOSURE_INT);
if (depth_exposure_ < range.min || depth_exposure_ > range.max) {
RCLCPP_ERROR(logger_, "depth exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting depth exposure to " << depth_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_EXPOSURE_INT, depth_exposure_);
}
}
if (depth_gain_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_GAIN_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_GAIN_INT);
if (depth_gain_ < range.min || depth_gain_ > range.max) {
RCLCPP_ERROR(logger_, "depth gain value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting depth gain to " << depth_gain_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_GAIN_INT, depth_gain_);
}
}
if (device_->isPropertySupported(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
int set_enable_depth_auto_exposure_priority = enable_depth_auto_exposure_priority_ ? 1 : 0;
RCLCPP_INFO_STREAM(logger_, "Setting depth auto exposure priority to "
@@ -1748,6 +1770,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
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_exposure_, "depth_exposure", -1);
setAndGetNodeParameter<int>(depth_gain_, "depth_gain", -1);
setAndGetNodeParameter<int>(depth_brightness_, "depth_brightness", -1);
setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point",
depth_brightness_);