Add color_sharpness、color_gamma、color_saturation、color_constrast and color_hue params

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -500,6 +500,11 @@ class OBCameraNode {
   int color_white_balance_ = -1;
   int color_ae_max_exposure_ = -1;
   int color_brightness_ = -1;
+  int color_sharpness_ = -1;
+  int color_gamma_ = -1;
+  int color_saturation_ = -1;
+  int color_constrast_ = -1;
+  int color_hue_ = -1;
   int ir_exposure_ = -1;
   int ir_gain_ = -1;
   int ir_ae_max_exposure_ = -1;

orbbec_camera/launch/gemini_330_series.launch.py

@@ -76,6 +76,11 @@ def generate_launch_description():
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
         DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
         DeclareLaunchArgument('color_brightness', default_value='-1'),
+        DeclareLaunchArgument('color_sharpness', default_value='-1'),
+        DeclareLaunchArgument('color_gamma', default_value='-1'),
+        DeclareLaunchArgument('color_saturation', default_value='-1'),
+        DeclareLaunchArgument('color_constrast', default_value='-1'),
+        DeclareLaunchArgument('color_hue', default_value='-1'),
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
         DeclareLaunchArgument('depth_fps', default_value='0'),

orbbec_camera/src/ob_camera_node.cpp

@@ -383,6 +383,31 @@ void OBCameraNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
   }
+  if (color_sharpness_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_SHARPNESS_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color sharpness to " << color_sharpness_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SHARPNESS_INT, color_sharpness_);
+  }
+  if (color_gamma_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_GAMMA_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color gamm to " << color_gamma_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAMMA_INT, color_gamma_);
+  }
+  if (color_saturation_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_SATURATION_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color saturation to " << color_saturation_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SATURATION_INT, color_saturation_);
+  }
+  if (color_constrast_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_CONTRAST_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color constrast to " << color_constrast_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_CONTRAST_INT, color_constrast_);
+  }
+  if (color_hue_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_HUE_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color hue to " << color_hue_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
+  }
   // ir ae max
   if (ir_ae_max_exposure_ != -1 &&
       device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1230,6 +1255,11 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
   setAndGetNodeParameter<int>(color_ae_max_exposure_, "color_ae_max_exposure", -1);
   setAndGetNodeParameter<int>(color_brightness_, "color_brightness", -1);
+  setAndGetNodeParameter<int>(color_sharpness_, "color_sharpness", -1);
+  setAndGetNodeParameter<int>(color_gamma_, "color_gamma", -1);
+  setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
+  setAndGetNodeParameter<int>(color_constrast_, "color_constrast", -1);
+  setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
   setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
   setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
   setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
@@ -1911,9 +1941,6 @@ void OBCameraNode::setDisparitySearchOffset() {
     if (disparity_search_offset_ >= 0 && disparity_search_offset_ <= 127) {
       device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
       RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
-    } else {
-      device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, 0);
-      RCLCPP_INFO_STREAM(logger_, "Set default disparity_search_offset ");
     }
     if (offset_index0_ >= 0 && offset_index0_ <= 127 && offset_index1_ >= 0 &&
         offset_index1_ <= 127) {
@@ -1927,15 +1954,6 @@ void OBCameraNode::setDisparitySearchOffset() {
       RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: "
                                       << disparity_offset_config_ << "  offset_index0:"
                                       << offset_index0_ << "  offset_index1:" << offset_index1_);
-    } else {
-      config.enable = false;
-      config.offset0 = 0;
-      config.offset1 = 0;
-      config.reserved = 0;
-
-      device_->setStructuredData(OB_STRUCT_DISP_OFFSET_CONFIG,
-                                 reinterpret_cast<const uint8_t *>(&config), sizeof(config));
-      RCLCPP_INFO_STREAM(logger_, "Set default disparity_offset_config ");
     } 
   }
   has_run = true;