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feat: add color_anti_flicker launch argument and update handling in OBCameraNode

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ob-yalian
2026-04-17 16:44:49 +08:00
parent 21983b28f4
commit 3dc25a9be4
5 changed files with 5 additions and 4 deletions
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orbbec_camera/launch/gemini305.launch.py
+1
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@@ -140,6 +140,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_anti_flicker', default_value='false'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini305_g.launch.py
+1
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@@ -140,6 +140,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_anti_flicker', default_value='false'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -114,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_anti_flicker', default_value='false'),#Only for Gemini 330 series, firmware >= 1.7.13 DeclareLaunchArgument('color_anti_flicker', default_value='false'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1 -1
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@@ -113,7 +113,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_anti_flicker', default_value='false'),#Only for Gemini 330 series, firmware >= 1.7.13 DeclareLaunchArgument('color_anti_flicker', default_value='false'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+1 -2
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@@ -1161,8 +1161,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Current color denoising level: " RCLCPP_INFO_STREAM(logger_, "Current color denoising level: "
<< device_->getIntProperty(OB_PROP_COLOR_DENOISING_LEVEL_INT)); << device_->getIntProperty(OB_PROP_COLOR_DENOISING_LEVEL_INT));
} }
if (isGemini335PID(pid_) && if (device_->isPropertySupported(OB_PROP_COLOR_ANTI_FLICKER_BOOL, OB_PERMISSION_WRITE)) {
device_->isPropertySupported(OB_PROP_COLOR_ANTI_FLICKER_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_ANTI_FLICKER_BOOL, color_anti_flicker_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_ANTI_FLICKER_BOOL, color_anti_flicker_);
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
logger_, "Current color anti-flicker to " logger_, "Current color anti-flicker to "