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support 60hz video fps

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datean
2024-12-05 21:35:53 +08:00
parent f1134728f2
commit f3f780531c
3 changed files with 13 additions and 23 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -12
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@@ -814,8 +814,7 @@ int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
// device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 7000);
// set interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
@@ -823,7 +822,7 @@ int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
return 0;
}
@@ -854,15 +853,6 @@ void OBCameraNode::startStreams() {
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set);
});
// if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
// RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
// TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
// }
// if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
// RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
// TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
// }
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage());
RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");