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

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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
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orbbec_camera/src/ob_camera_node.cpp
+12
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@@ -3154,6 +3154,12 @@ void OBCameraNode::setDepthAutoExposureROI() {
if (depth_roi_has_run) { if (depth_roi_has_run) {
return; 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)) { if (device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest(); auto config = OBRegionOfInterest();
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);
@@ -3194,6 +3200,12 @@ void OBCameraNode::setColorAutoExposureROI() {
if (color_roi_has_run) { if (color_roi_has_run) {
return; 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)) { if (device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest(); auto config = OBRegionOfInterest();
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);