i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-05 20:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add services support for auto exposure and sports modes in OBCameraNode

Browse Source
This commit is contained in:
ob-yalian
2026-01-13 17:23:08 +08:00
parent 835295b9aa
commit 181d34fb5c
4 changed files with 78 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+6 -5
View File
@@ -968,15 +968,16 @@ void OBCameraNode::setupDevices() {
RCLCPP_ERROR(logger_, "intra camera sync reference does not support this setting");
}
}
if (pid == 0x0840) {
if (pid == GEMINI_305_PID) {
if (enable_sports_mode_) {
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_AE_MODE_INT, enable_sports_mode_);
if (device_->isPropertySupported(OB_PROP_COLOR_FAST_AE_BOOL, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_FAST_AE_BOOL, (enable_sports_mode_ ? 0 : 1));
RCLCPP_INFO_STREAM(logger_,
"Setting Sports Mode to " << (enable_sports_mode_ ? "ON" : "OFF"));
}
}
if (!ae_mode_.empty()) {
if ((ae_mode_ == "depthbased" || ae_mode_ == "colorbased") &&
device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE)) {
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MODE_INT, OB_PERMISSION_WRITE)) {
auto ae_mode = ae_mode_ == "depthbased" ? 0 : 1;
device_->setIntProperty(OB_PROP_COLOR_AE_MODE_INT, ae_mode);
@@ -1384,7 +1385,7 @@ void OBCameraNode::setupProfiles() {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else {
auto pid = device_->getDeviceInfo()->getPid();
if (pid == 0x0840 && elem == DEPTH) {
if (pid == GEMINI_305_PID && elem == DEPTH) {
// Gemini 305
OBDownSampleConfig conf;
conf.originWidth = width_[elem];