From 07b06937f6be88993b78af5c64551738be9b0053 Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Tue, 25 Feb 2025 11:23:06 +0800 Subject: [PATCH] Add depth_mean_intensity_set_point param --- orbbec_camera/include/orbbec_camera/ob_camera_node.h | 1 + orbbec_camera/launch/gemini_330_series.launch.py | 1 + orbbec_camera/src/ob_camera_node.cpp | 9 ++++++++- 3 files changed, 10 insertions(+), 1 deletion(-) diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h index d5bc2603..e5d91ff6 100644 --- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h +++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h @@ -508,6 +508,7 @@ class OBCameraNode { int color_constrast_ = -1; int color_hue_ = -1; bool enable_color_backlight_compenstation_ = false; + int depth_mean_intensity_set_point_ = -1; int ir_exposure_ = -1; int ir_gain_ = -1; int ir_ae_max_exposure_ = -1; diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py index 582164ac..6ae86c3e 100644 --- a/orbbec_camera/launch/gemini_330_series.launch.py +++ b/orbbec_camera/launch/gemini_330_series.launch.py @@ -91,6 +91,7 @@ def generate_launch_description(): DeclareLaunchArgument('depth_qos', default_value='default'), DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), + DeclareLaunchArgument('depth_mean_intensity_set_point', default_value='-1'), DeclareLaunchArgument('left_ir_width', default_value='0'), DeclareLaunchArgument('left_ir_height', default_value='0'), DeclareLaunchArgument('left_ir_fps', default_value='0'), diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp index 02ddd6bc..bf5c4cdc 100644 --- a/orbbec_camera/src/ob_camera_node.cpp +++ b/orbbec_camera/src/ob_camera_node.cpp @@ -429,6 +429,12 @@ void OBCameraNode::setupDevices() { TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, set_enable_depth_auto_exposure_priority); } + if (depth_mean_intensity_set_point_ != -1 && + device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) { + RCLCPP_INFO_STREAM( + logger_, "Setting depth mea intensity set point to " << depth_mean_intensity_set_point_); + TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_mean_intensity_set_point_); + } // ir ae max if (ir_ae_max_exposure_ != -1 && device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) { @@ -1274,8 +1280,9 @@ void OBCameraNode::getParameters() { setAndGetNodeParameter(color_hue_, "color_hue", -1); setAndGetNodeParameter(enable_color_backlight_compenstation_, "enable_color_backlight_compenstation", false); - setAndGetNodeParameter(enable_depth_auto_exposure_priority_, + setAndGetNodeParameter(enable_depth_auto_exposure_priority_, "enable_depth_auto_exposure_priority", false); + setAndGetNodeParameter(depth_mean_intensity_set_point_, "depth_mean_intensity_set_point", -1); setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true); setAndGetNodeParameter(ir_exposure_, "ir_exposure", -1); setAndGetNodeParameter(ir_gain_, "ir_gain", -1);