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Change the enable_color_auto_exposure_priority and enable_color_backlight_compenstation parameter types to bool type

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This commit is contained in:
jj
2025-02-19 11:32:21 +08:00
parent 744fed5e92
commit 370d730ecc
3 changed files with 25 additions and 22 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -2
View File
@@ -490,7 +490,7 @@ class OBCameraNode {
std::string depth_filter_config_;
bool enable_depth_filter_ = false;
bool enable_soft_filter_ = true;
int enable_color_auto_exposure_priority_ = -1;
bool enable_color_auto_exposure_priority_ = false;
bool enable_color_auto_exposure_ = true;
bool enable_color_auto_white_balance_ = true;
bool enable_ir_auto_exposure_ = true;
@@ -506,7 +506,7 @@ class OBCameraNode {
int color_saturation_ = -1;
int color_constrast_ = -1;
int color_hue_ = -1;
int enable_color_backlight_compenstation_ = -1;
bool enable_color_backlight_compenstation_ = false;
int ir_exposure_ = -1;
int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+2 -2
View File
@@ -69,7 +69,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
@@ -82,7 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_constrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
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
+21 -18
View File
@@ -353,12 +353,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAIN_INT, color_gain_);
}
}
if (enable_color_auto_exposure_priority_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
if (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;
RCLCPP_INFO_STREAM(logger_, "Setting color auto exposure priority to "
<< (enable_color_auto_exposure_priority_ ? "ON" : "OFF"));
<< (set_enable_color_auto_exposure_priority ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT,
enable_color_auto_exposure_priority_);
set_enable_color_auto_exposure_priority);
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
@@ -415,10 +415,12 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting color hue to " << color_hue_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
}
if (enable_color_backlight_compenstation_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color backlight compenstation to " << (enable_color_backlight_compenstation_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, enable_color_backlight_compenstation_);
if (device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) {
int set_enable_color_backlight_compenstation = enable_color_backlight_compenstation_ ? 1 : 0;
RCLCPP_INFO_STREAM(logger_, "Setting color backlight compenstation to "
<< (set_enable_color_backlight_compenstation ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT,
set_enable_color_backlight_compenstation);
}
// ir ae max
if (ir_ae_max_exposure_ != -1 &&
@@ -1261,7 +1263,7 @@ void OBCameraNode::getParameters() {
}
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);
setAndGetNodeParameter(enable_color_auto_exposure_priority_,
"enable_color_auto_exposure_priority", -1);
"enable_color_auto_exposure_priority", false);
setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_color_auto_white_balance_, "enable_color_auto_white_balance", true);
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
@@ -1274,7 +1276,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
setAndGetNodeParameter<int>(color_constrast_, "color_constrast", -1);
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<int>(enable_color_backlight_compenstation_, "enable_color_backlight_compenstation", -1);
setAndGetNodeParameter<bool>(enable_color_backlight_compenstation_,
"enable_color_backlight_compenstation", false);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
@@ -2954,8 +2957,8 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request> &request,
std::shared_ptr<SetFilter ::Response> &response) {
try {
RCLCPP_INFO_STREAM(logger_, "filter_name: " << request->filter_name
<< " filter_enable: " << (request->filter_enable? "true" : "false"));
RCLCPP_INFO_STREAM(logger_, "filter_name: " << request->filter_name << " filter_enable: "
<< (request->filter_enable ? "true" : "false"));
auto it = std::remove_if(filter_list_.begin(), filter_list_.end(),
[&request](const std::shared_ptr<ob::Filter> &filter) {
return filter->getName() == request->filter_name;
@@ -3068,12 +3071,12 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
<< " - "
<< request->filter_param[1]);
} else {
RCLCPP_INFO_STREAM(logger_,
request->filter_name
<< "Cannot be set\n"
<< "The filter_name value that can be set is "
"DecimationFilter、HDRMerge、SequenceIdFilter、ThresholdFilter、Nois"
"eRemovalFilter、SpatialAdvancedFilter and TemporalFilter");
RCLCPP_INFO_STREAM(
logger_, request->filter_name
<< "Cannot be set\n"
<< "The filter_name value that can be set is "
"DecimationFilter、HDRMerge、SequenceIdFilter、ThresholdFilter、Nois"
"eRemovalFilter、SpatialAdvancedFilter and TemporalFilter");
}
for (auto &filter : filter_list_) {
std::cout << " - " << filter->getName() << ": "