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docs: document ROS2 Gemini 330 AE AWB services

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ob-yalian
2026-08-26 11:46:30 +08:00
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docs/en/source/camera_devices/4_application_guide/services.md
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@@ -138,6 +138,35 @@
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
#### Gemini 330 AE/AWB Debugging
On Gemini 330 series devices with firmware `1.8.21` or later, the following services are advertised when the corresponding SDK properties are supported:
* `/camera/get_color_ae_awb_status`
Returns the device AE/AWB status value.
```bash
ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_color_awb_gain`
Returns the raw Q8.8 `r_gain`, `b_gain`, and `g_gain` values.
```bash
ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
```
* `/camera/set_color_awb_gain`
Sets raw Q8.8 RGB channel gains. Color auto white balance must be disabled before setting the gains.
```bash
ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
```
* `/camera/set_laser_enable`
```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
docs/zh/source/camera_devices/4_application_guide/services.md
+29
View File
@@ -138,6 +138,35 @@
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
#### Gemini 330 AE/AWB 调试
Gemini 330 系列设备使用固件 `1.8.21` 及以上版本时，如果设备支持对应 SDK 属性，节点会提供以下服务：
* `/camera/get_color_ae_awb_status`
获取设备 AE/AWB 状态值。
```bash
ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_color_awb_gain`
获取原始 Q8.8 格式的 `r_gain`、`b_gain` 和 `g_gain`。
```bash
ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
```
* `/camera/set_color_awb_gain`
设置原始 Q8.8 格式的 RGB 通道增益。设置前必须关闭彩色自动白平衡。
```bash
ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
```
* `/camera/set_laser_enable`
```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'