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Revert "fix: unify auto exposure parameter for color and IR streams"

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This reverts commit 52f32e75aa.
This commit is contained in:
ob-yalian
2026-09-21 15:56:33 +08:00
parent 364173773c
commit 3e5a496b17
2 changed files with 3 additions and 8 deletions
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orbbec_camera/launch/gemini_301_series.launch.py
+1 -1
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@@ -206,7 +206,7 @@ def generate_launch_description():
# Gemini 301 color/depth/IR share these AE, exposure and gain controls. # Gemini 301 color/depth/IR share these AE, exposure and gain controls.
# Use only these entries in YAML too; color exposure/max exposure values # Use only these entries in YAML too; color exposure/max exposure values
# must be multiplied by 100 when migrating. Existing IR units are unchanged. # must be multiplied by 100 when migrating. Existing IR units are unchanged.
DeclareLaunchArgument('enable_auto_exposure', default_value='true'), DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'), DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'), DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'), DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+2 -7
View File
@@ -1740,8 +1740,7 @@ void OBCameraNode::setupDevices() {
"Current depth auto exposure priority: " "Current depth auto exposure priority: "
<< (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF"))); << (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF")));
} }
if ((should_apply_launch_config("enable_auto_exposure") || if (should_apply_launch_config("enable_ir_auto_exposure") &&
should_apply_launch_config("enable_ir_auto_exposure")) &&
device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM( TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
@@ -4884,11 +4883,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point", setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point",
depth_brightness_); depth_brightness_);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", ""); setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
isLaunchParamProvided("enable_auto_exposure")
? "enable_auto_exposure"
: "enable_ir_auto_exposure",
true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1); setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1); setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1); setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1);