i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-11 02:40:18 +08:00
Code Issues Packages Projects Releases Wiki Activity

chore: Update color and IR camera settings in OBCameraNode

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+23
View File
@@ -380,6 +380,25 @@ void OBCameraNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color AE max exposure to " << color_ae_max_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, color_ae_max_exposure_);
}
if (device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
}
// ir ae max
if (device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting IR AE max exposure to " << ir_ae_max_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_AE_MAX_EXPOSURE_INT, ir_ae_max_exposure_);
}
// ir brightness
if (device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting IR brightness to " << ir_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, ir_brightness_);
}
// ir auto exposure
if (device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_,
"Setting IR auto exposure to " << (enable_ir_auto_exposure_ ? "ON" : "OFF"));
@@ -1011,9 +1030,13 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
setAndGetNodeParameter<int>(color_ae_max_exposure_, "color_ae_max_exposure", -1);
setAndGetNodeParameter<int>(color_brightness_, "color_brightness", -1);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1);
setAndGetNodeParameter<int>(ir_brightness_, "ir_brightness", -1);
setAndGetNodeParameter(enable_ir_long_exposure_, "enable_ir_long_exposure", true);
setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "");