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feat: add utility functions for string conversion of camera settings

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This commit is contained in:
slz
2026-04-15 16:17:31 +08:00
parent 7ee6e0033c
commit f0603b8b38
4 changed files with 101 additions and 12 deletions
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orbbec_camera/src/ob_camera_node.cpp
+22 -11
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@@ -665,8 +665,8 @@ void OBCameraNode::setupDevices() {
for (const auto &[stream_index, enable] : enable_stream_) {
if (enable && sensors_.find(stream_index) == sensors_.end()) {
RCLCPP_WARN_STREAM(logger_, magic_enum::enum_name(stream_index.first)
<< " sensor not supported by current device, skipping");
RCLCPP_DEBUG_STREAM(logger_, magic_enum::enum_name(stream_index.first)
<< " sensor not supported by current device, skipping");
enable_stream_[stream_index] = false;
}
}
@@ -817,8 +817,10 @@ void OBCameraNode::setupDevices() {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
RCLCPP_INFO_STREAM(logger_, "Current depth precision: " << device_->getIntProperty(
OB_PROP_DEPTH_PRECISION_LEVEL_INT));
const auto current_depth_precision =
device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
RCLCPP_INFO_STREAM(logger_, "Current depth precision: "
<< depthPrecisionLevelToString(current_depth_precision));
}
} else if (device_->isPropertySupported(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
OB_PERMISSION_READ_WRITE) &&
@@ -1126,8 +1128,10 @@ void OBCameraNode::setupDevices() {
} else if (color_powerline_freq_ == "auto") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 3);
}
RCLCPP_INFO_STREAM(logger_, "Current color powerline freq: " << device_->getIntProperty(
OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT));
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_, "Current color powerline freq: " << colorPowerLineFrequencyToString(
current_color_powerline_freq));
}
if (depth_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1296,8 +1300,10 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "disparity range mode does not support this setting");
}
const auto current_disparity_range_mode =
device_->getIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT);
RCLCPP_INFO_STREAM(logger_, "Current disparity range mode: "
<< device_->getIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT));
<< disparityRangeModeToString(current_disparity_range_mode));
}
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE)) {
@@ -1329,8 +1335,10 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "exposure range mode does not support this setting");
}
RCLCPP_INFO_STREAM(logger_, "Current exposure range mode: " << device_->getIntProperty(
OB_PROP_DEVICE_PERFORMANCE_MODE_INT));
const auto current_exposure_range_mode =
device_->getIntProperty(OB_PROP_DEVICE_PERFORMANCE_MODE_INT);
RCLCPP_INFO_STREAM(logger_, "Current exposure range mode: "
<< exposureRangeModeToString(current_exposure_range_mode));
}
if (!load_config_json_file_path_.empty()) {
device_->loadPresetFromJsonFile(load_config_json_file_path_.c_str());
@@ -1370,8 +1378,11 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "intra camera sync reference does not support this setting");
}
RCLCPP_INFO_STREAM(logger_, "Current intra camera sync reference: " << device_->getIntProperty(
OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT));
const auto current_intra_camera_sync_reference =
device_->getIntProperty(OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT);
RCLCPP_INFO_STREAM(
logger_, "Current intra camera sync reference: "
<< intraCameraSyncReferenceToString(current_intra_camera_sync_reference));
}
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_STRATEGY_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, (ae_strategy_ == "motion" ? 0 : 1));