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feat: add color preset parameter and functionality to OBCameraNode

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This commit is contained in:
ob-yalian
2026-02-02 11:00:52 +08:00
parent 8d217ae311
commit 001e1817bd
4 changed files with 23 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -671,6 +671,7 @@ class OBCameraNode {
int color_hue_ = -1;
int color_backlight_compensation_ = -1;
std::string color_powerline_freq_;
std::string color_preset_;
int color_denoising_level_ = -1;
bool enable_color_decimation_filter_ = false;
int color_decimation_filter_scale_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -92,6 +92,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_preset', default_value='default'),# color preset: default, Warm Biased AWB
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1
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@@ -91,6 +91,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_preset', default_value='default'),# color preset: default, Warm Biased AWB
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
orbbec_camera/src/ob_camera_node.cpp
+20
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@@ -582,6 +582,25 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL,
enable_color_auto_white_balance_);
}
if (!color_preset_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_PRESET_PRIORITY_INT, OB_PERMISSION_WRITE)) {
std::string preset_key = color_preset_;
std::transform(preset_key.begin(), preset_key.end(), preset_key.begin(), ::tolower);
int preset_value = -1;
if (preset_key == "default") {
preset_value = 0;
} else if (preset_key == "warm biased awb") {
preset_value = 1;
} else {
RCLCPP_WARN_STREAM(
logger_, "Unsupported color_preset: " << color_preset_
<< ". Supported values: Default, Warm Biased AWB");
}
if (preset_value >= 0) {
RCLCPP_INFO_STREAM(logger_, "Setting color preset to " << color_preset_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_PRESET_PRIORITY_INT, preset_value);
}
}
if (color_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_EXPOSURE_INT);
@@ -2053,6 +2072,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_backlight_compensation_, "color_backlight_compensation", -1);
setAndGetNodeParameter<int>(color_denoising_level_, "color_denoising_level", -1);
setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", "");
setAndGetNodeParameter<std::string>(color_preset_, "color_preset", "Default");
setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
false);
setAndGetNodeParameter<int>(color_decimation_filter_scale_, "color_decimation_filter_scale", -1);