Max Pro increases the IR long exposure enable configuration.

orbbec · Jan 15, 2024 · 760c78a · 760c78a
1 parent 9eedea5
commit 760c78a
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Showing 4 changed files with 8 additions and 0 deletions.
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -405,6 +405,7 @@ class OBCameraNode {
   bool enable_soft_filter_ = true;
   bool enable_color_auto_exposure_ = true;
   bool enable_ir_auto_exposure_ = true;
+  bool enable_ir_long_exposure_ = false;
   bool enable_ldp_ = true;
   int soft_filter_max_diff_ = -1;
   int soft_filter_speckle_size_ = -1;

diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py
@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_qos', default_value='default'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('enable_ir_long_exposure', default_value='false'),
         DeclareLaunchArgument('publish_tf', default_value='true'),
         DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),

diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py
@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_qos', default_value='default'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('enable_ir_long_exposure', default_value='false'),
         DeclareLaunchArgument('publish_tf', default_value='true'),
         DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
@@ -205,6 +205,10 @@ void OBCameraNode::setupDevices() {
       device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
     }
 
+    if (device_->isPropertySupported(OB_PROP_IR_LONG_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
+      device_->setBoolProperty(OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_);
+    }
+
     if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
       auto default_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
       if (soft_filter_max_diff_ != -1 && default_soft_filter_max_diff != soft_filter_max_diff_) {
@@ -579,6 +583,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);
   setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
   setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
+  setAndGetNodeParameter(enable_ir_long_exposure_, "enable_ir_long_exposure", true);
   setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
   setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "close");
   setAndGetNodeParameter(depth_delay_us_, "depth_delay_us", 0);