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Add industry_mode param in dabai_dcw2.launch.py and dabai_dw2.launch.py

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This commit is contained in:
jj
2025-04-03 13:45:32 +08:00
parent 5e46ced56e
commit e57c7866d8
4 changed files with 29 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -575,6 +575,7 @@ class OBCameraNode {
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
std::string industry_mode_ = "default";
bool enable_color_undistortion_ = false;
std::shared_ptr<image_publisher> color_undistortion_publisher_;
bool has_first_color_frame_ = false;
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -81,6 +81,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('industry_mode', default_value='default'),
]
# Node configuration
orbbec_camera/launch/dabai_dw2.launch.py
+3
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@@ -30,6 +30,8 @@ def generate_launch_description():
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
# /config/depthfilter/Openni_device.json，need config path.
DeclareLaunchArgument('depth_filter_config', default_value=''),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='10'),
@@ -56,6 +58,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('industry_mode', default_value='default'),
]
# Node configuration
orbbec_camera/src/ob_camera_node.cpp
+24
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@@ -177,6 +177,29 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_INDUSTRY_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (industry_mode_ == "default") {
OBDepthIndustryMode mode = OB_INDUSTRY_DEFAULT;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
} else if (industry_mode_ == "mode1") {
OBDepthIndustryMode mode = OB_INDUSTRY_MODE1;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
} else if (industry_mode_ == "mode2") {
OBDepthIndustryMode mode = OB_INDUSTRY_MODE2;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
} else if (industry_mode_ == "mode3") {
OBDepthIndustryMode mode = OB_INDUSTRY_MODE3;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
} else if (industry_mode_ == "mode4") {
OBDepthIndustryMode mode = OB_INDUSTRY_MODE4;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
} else if (industry_mode_ == "mode5") {
OBDepthIndustryMode mode = OB_INDUSTRY_MODE5;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
}
RCLCPP_INFO_STREAM(logger_, "Setting industry mode to "
<< device_->getIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT));
}
if (max_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting max depth limit to " << max_depth_limit_);
@@ -1158,6 +1181,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(min_depth_limit_, "min_depth_limit", 0);
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<std::string>(industry_mode_, "industry_mode", "default");
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
setAndGetNodeParameter<int>(color_ae_roi_left_, "color_ae_roi_left", -1);
setAndGetNodeParameter<int>(color_ae_roi_top_, "color_ae_roi_top", -1);