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feat: add color_ae_max_gain parameter and implement its handling in OBCameraNode

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ob-yalian
2026-04-17 16:41:59 +08:00
parent d5c6a1bcdf
commit 21983b28f4
4 changed files with 17 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -692,6 +692,7 @@ class OBCameraNode {
int color_gain_ = -1;
int color_white_balance_ = -1;
int color_ae_max_exposure_ = -1;
int color_ae_max_gain_ = -1;
int color_brightness_ = -1;
int color_roi_brightness_ = -1;
int color_sharpness_ = -1;
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -34,6 +34,7 @@ def generate_launch_description():
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("color_ae_max_gain", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -34,6 +34,7 @@ def generate_launch_description():
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("color_ae_max_gain", default_value="-1"),
DeclareLaunchArgument("color_exposure", default_value="-1"),
DeclareLaunchArgument("color_gain", default_value="-1"),
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
orbbec_camera/src/ob_camera_node.cpp
+14
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@@ -1050,6 +1050,19 @@ void OBCameraNode::setupDevices() {
OB_PROP_COLOR_AE_MAX_EXPOSURE_INT));
}
}
if (color_ae_max_gain_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_GAIN_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_AE_MAX_GAIN_INT);
if (color_ae_max_gain_ < range.min || color_ae_max_gain_ > range.max) {
RCLCPP_ERROR(logger_,
"color AE max gain value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_GAIN_INT, color_ae_max_gain_);
RCLCPP_INFO_STREAM(logger_, "Current color AE max gain: "
<< device_->getIntProperty(OB_PROP_COLOR_AE_MAX_GAIN_INT));
}
}
if (color_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_BRIGHTNESS_INT);
@@ -2532,6 +2545,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
setAndGetNodeParameter<int>(color_ae_max_exposure_, "color_ae_max_exposure", -1);
setAndGetNodeParameter<int>(color_ae_max_gain_, "color_ae_max_gain", -1);
setAndGetNodeParameter<int>(color_brightness_, "color_brightness", -1);
setAndGetNodeParameter<int>(color_roi_brightness_, "color_roi_brightness", -1);
setAndGetNodeParameter<int>(color_sharpness_, "color_sharpness", -1);