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add MJPEG quality parameter for Gemini 330

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This commit is contained in:
ob-yalian
2026-07-13 10:43:38 +08:00
parent b8b4f8dbeb
commit 24aca81888
7 changed files with 24 additions and 0 deletions
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orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
+1
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@@ -85,6 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_mjpeg_quality', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
+1
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@@ -85,6 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_mjpeg_quality', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
+1
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@@ -85,6 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_mjpeg_quality', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -799,6 +799,7 @@ class OBCameraNode {
int color_ae_roi_bottom_ = -1;
int color_exposure_ = -1;
int color_gain_ = -1;
int color_mjpeg_quality_ = -1;
int color_white_balance_ = -1;
int color_ae_max_exposure_ = -1;
int color_ae_max_gain_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -108,6 +108,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_mjpeg_quality', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1
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@@ -106,6 +106,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_mjpeg_quality', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+18
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@@ -1322,6 +1322,22 @@ void OBCameraNode::setupDevices() {
"Current color gain: " << device_->getIntProperty(OB_PROP_COLOR_GAIN_INT));
}
}
if (color_mjpeg_quality_ != -1) {
if (!device_->isPropertySupported(OB_PROP_MJPEG_QUALITY_INT, OB_PERMISSION_WRITE)) {
RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is not supported by this device");
} else {
auto range = device_->getIntPropertyRange(OB_PROP_MJPEG_QUALITY_INT);
if (color_mjpeg_quality_ < range.min || color_mjpeg_quality_ > range.max) {
RCLCPP_ERROR(logger_,
"color MJPEG quality value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MJPEG_QUALITY_INT, color_mjpeg_quality_);
RCLCPP_INFO_STREAM(logger_, "Current color MJPEG quality: "
<< device_->getIntProperty(OB_PROP_MJPEG_QUALITY_INT));
}
}
}
if (should_apply_launch_config("enable_color_auto_exposure_priority") &&
device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
int set_enable_color_auto_exposure_priority = enable_color_auto_exposure_priority_ ? 1 : 0;
@@ -2497,6 +2513,7 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
OB_PROP_COLOR_AE_MAX_EXPOSURE_INT);
sync_int("color", "color_exposure", color_exposure_, OB_PROP_COLOR_EXPOSURE_INT);
sync_int("color", "color_gain", color_gain_, OB_PROP_COLOR_GAIN_INT);
sync_int("color", "color_mjpeg_quality", color_mjpeg_quality_, OB_PROP_MJPEG_QUALITY_INT);
sync_int("color", "color_brightness", color_brightness_, OB_PROP_COLOR_BRIGHTNESS_INT);
sync_bool("color", "enable_color_auto_white_balance", enable_color_auto_white_balance_,
OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL);
@@ -4425,6 +4442,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_ae_roi_bottom_, "color_ae_roi_bottom", -1);
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
setAndGetNodeParameter<int>(color_mjpeg_quality_, "color_mjpeg_quality", -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);