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Merge branch 'feature/update_parameter_name' into fix/305g

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ob-yalian
2026-04-03 20:40:22 +08:00
parent 22f7092175 a531db7853
commit ff43c14298
5 changed files with 47 additions and 45 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -8
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@@ -1005,16 +1005,16 @@ void OBCameraNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_STRATEGY_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, (enable_sports_mode_ ? 0 : 1));
RCLCPP_INFO_STREAM(logger_, "Setting Sports Mode to " << (enable_sports_mode_ ? "ON" : "OFF"));
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, (ae_strategy_ == "motion" ? 1 : 0));
RCLCPP_INFO_STREAM(logger_, "Setting AE Strategy to " << ae_strategy_);
}
if ((ae_mode_ == "depthbased" || ae_mode_ == "colorbased") &&
if ((ae_reference_stream_ == "depth" || ae_reference_stream_ == "color") &&
device_->isPropertySupported(OB_PROP_DEVICE_AE_REFERENCE_INT, OB_PERMISSION_WRITE)) {
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_REFERENCE_INT, OB_PERMISSION_WRITE)) {
auto ae_mode = ae_mode_ == "depthbased" ? 0 : 1;
device_->setIntProperty(OB_PROP_DEVICE_AE_REFERENCE_INT, ae_mode);
RCLCPP_INFO_STREAM(logger_, "Setting AE Mode to " << ae_mode_);
auto ae_reference = ae_reference_stream_ == "depth" ? 0 : 1;
device_->setIntProperty(OB_PROP_DEVICE_AE_REFERENCE_INT, ae_reference);
RCLCPP_INFO_STREAM(logger_, "Setting AE Reference Stream to " << ae_reference_stream_);
}
}
}
@@ -2307,8 +2307,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_publish_extrinsic_, "enable_publish_extrinsic", false);
setAndGetNodeParameter<std::string>(intra_camera_sync_reference_, "intra_camera_sync_reference",
"Middle");
setAndGetNodeParameter<std::string>(ae_mode_, "ae_mode", "depthbased");
setAndGetNodeParameter<bool>(enable_sports_mode_, "enable_sports_mode", false);
setAndGetNodeParameter<std::string>(ae_reference_stream_, "ae_reference_stream", "depth");
setAndGetNodeParameter<std::string>(ae_strategy_, "ae_strategy", "motion");
RCLCPP_INFO_STREAM(logger_, "current time domain: " << time_domain_);
RCLCPP_INFO_STREAM(logger_, "hdr_index1_laser_control_ "