i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 03:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix: skip setting AE ROI for color and depth based on reference stream

Browse Source
This commit is contained in:
ob-yalian
2026-04-03 21:29:36 +08:00
parent ff43c14298
commit 344d0f28b8
1 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+12
View File
@@ -3154,6 +3154,12 @@ void OBCameraNode::setDepthAutoExposureROI() {
if (depth_roi_has_run) {
return;
}
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "color") {
RCLCPP_WARN_STREAM(logger_,
"Skip setting depth AE ROI because AE Reference Stream is color");
depth_roi_has_run = true;
return;
}
if (device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest();
uint32_t data_size = sizeof(config);
@@ -3194,6 +3200,12 @@ void OBCameraNode::setColorAutoExposureROI() {
if (color_roi_has_run) {
return;
}
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "depth") {
RCLCPP_WARN_STREAM(logger_,
"Skip setting color AE ROI because AE Reference Stream is depth");
color_roi_has_run = true;
return;
}
if (device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest();
uint32_t data_size = sizeof(config);