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chore: Update color and IR camera settings in OBCameraNode

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This commit updates the OBCameraNode class to include new properties for color and IR camera settings. Specifically, it adds support for setting the color brightness, color AE max exposure, IR brightness, and IR AE max exposure. These settings can now be configured through the launch file and applied to the camera device.
This commit is contained in:
Joe Dong
2024-09-18 14:13:01 +08:00
parent e2853823f6
commit 4007e9fbdb
4 changed files with 37 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5 -1
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@@ -115,7 +115,7 @@ const stream_index_pair INFRA2{OB_STREAM_IR_RIGHT, 0};
const stream_index_pair GYRO{OB_STREAM_GYRO, 0};
const stream_index_pair ACCEL{OB_STREAM_ACCEL, 0};
const std::vector<stream_index_pair> IMAGE_STREAMS = {COLOR,DEPTH, INFRA0, INFRA1, INFRA2};
const std::vector<stream_index_pair> IMAGE_STREAMS = {COLOR, DEPTH, INFRA0, INFRA1, INFRA2};
const std::vector<stream_index_pair> HID_STREAMS = {GYRO, ACCEL};
@@ -463,8 +463,12 @@ class OBCameraNode {
int color_exposure_ = -1;
int color_gain_ = -1;
int color_white_balance_ = -1;
int color_ae_max_exposure_ = -1;
int color_brightness_ = -1;
int ir_exposure_ = -1;
int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1;
int ir_brightness_ = -1;
int soft_filter_max_diff_ = -1;
int soft_filter_speckle_size_ = -1;
bool enable_frame_sync_ = false;