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Update interleave_ae parameter setting order

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jj
2024-12-21 15:19:18 +08:00
parent ded1e7d0c9
commit fa09f6c22a
2 changed files with 13 additions and 14 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
View File
@@ -142,7 +142,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'), DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'), DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'), DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+12 -13
View File
@@ -821,19 +821,6 @@ void OBCameraNode::startStreams() {
try { try {
setupPipelineConfig(); setupPipelineConfig();
// set interleave mode
if (interleave_ae_mode_ == "hdr" && interleave_frame_enable_) {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to hdr");
device_->loadFrameInterleave("Depth From HDR");
init_interleave_hdr_param();
} else if (interleave_ae_mode_ == "laser" && interleave_frame_enable_) {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to laser");
device_->loadFrameInterleave("Laser ON-Off");
init_interleave_laser_param();
} else {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to nothing");
}
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) { pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set); onNewFrameSetCallback(frame_set);
}); });
@@ -859,6 +846,18 @@ void OBCameraNode::startStreams() {
RCLCPP_INFO_STREAM(logger_, "Disable frame sync"); RCLCPP_INFO_STREAM(logger_, "Disable frame sync");
TRY_EXECUTE_BLOCK(pipeline_->disableFrameSync()); TRY_EXECUTE_BLOCK(pipeline_->disableFrameSync());
} }
// set interleave mode
if (interleave_ae_mode_ == "hdr" && interleave_frame_enable_) {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to hdr");
device_->loadFrameInterleave("Depth From HDR");
init_interleave_hdr_param();
} else if (interleave_ae_mode_ == "laser" && interleave_frame_enable_) {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to laser");
device_->loadFrameInterleave("Laser ON-Off");
init_interleave_laser_param();
} else {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to nothing");
}
// enable interleave frame // enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) { if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_); RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);