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Add log for depth limit settings in setupDevices function

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slz
2026-01-29 16:39:42 +08:00
parent 1fb71c2611
commit ec94fd398a
1 changed files with 18 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+18 -4
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@@ -215,13 +215,27 @@ void OBCameraNode::setupDevices() {
} }
if (max_depth_limit_ > 0 && if (max_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) { device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting max depth limit to " << max_depth_limit_); auto range = device_->getIntPropertyRange(OB_PROP_MAX_DEPTH_INT);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MAX_DEPTH_INT, max_depth_limit_); if (max_depth_limit_ < range.min || max_depth_limit_ > range.max) {
RCLCPP_ERROR_STREAM(logger_,
"Max depth limit is out of range " << range.min << " - " << range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MAX_DEPTH_INT, max_depth_limit_);
auto new_max_depth_limit = device_->getIntProperty(OB_PROP_MAX_DEPTH_INT);
RCLCPP_INFO_STREAM(logger_, "Setting max depth limit to " << new_max_depth_limit);
}
} }
if (min_depth_limit_ > 0 && if (min_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MIN_DEPTH_INT, OB_PERMISSION_READ_WRITE)) { device_->isPropertySupported(OB_PROP_MIN_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting min depth limit to " << min_depth_limit_); auto range = device_->getIntPropertyRange(OB_PROP_MIN_DEPTH_INT);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MIN_DEPTH_INT, min_depth_limit_); if (min_depth_limit_ < range.min || min_depth_limit_ > range.max) {
RCLCPP_ERROR_STREAM(logger_,
"Min depth limit is out of range " << range.min << " - " << range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MIN_DEPTH_INT, min_depth_limit_);
auto new_min_depth_limit = device_->getIntProperty(OB_PROP_MIN_DEPTH_INT);
RCLCPP_INFO_STREAM(logger_, "Setting min depth limit to " << new_min_depth_limit);
}
} }
if (laser_energy_level_ != -1 && if (laser_energy_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) { device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {