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Merge branch 'fix/color-powerline-freq-validation' into v2/develop

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ob-yalian
2026-09-15 10:26:08 +08:00
parent 242593a1ce 52f32e75aa
commit 540adb4a0f
2 changed files with 40 additions and 21 deletions
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orbbec_camera/launch/gemini_301_series.launch.py
+2 -2
View File
@@ -142,7 +142,6 @@ def generate_launch_description():
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('color_sharpness', default_value='-1'),
@@ -208,7 +207,8 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
# Gemini 301 color, depth, and IR streams share one auto-exposure switch.
DeclareLaunchArgument('enable_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+38 -19
View File
@@ -1652,24 +1652,38 @@ void OBCameraNode::setupDevices() {
"Current color anti-flicker to "
<< (device_->getBoolProperty(OB_PROP_COLOR_ANTI_FLICKER_BOOL) ? "ON" : "OFF")));
}
if (!color_powerline_freq_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
if (color_powerline_freq_ == "disable") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 0);
} else if (color_powerline_freq_ == "50hz") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 1);
} else if (color_powerline_freq_ == "60hz") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 2);
} else if (color_powerline_freq_ == "auto") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 3);
if (!color_powerline_freq_.empty()) {
const auto normalized_color_powerline_freq = lowerParameterValue(color_powerline_freq_);
int color_powerline_freq_value = -1;
if (normalized_color_powerline_freq == "disable") {
color_powerline_freq_value = 0;
} else if (normalized_color_powerline_freq == "50hz") {
color_powerline_freq_value = 1;
} else if (normalized_color_powerline_freq == "60hz") {
color_powerline_freq_value = 2;
} else if (normalized_color_powerline_freq == "auto") {
color_powerline_freq_value = 3;
} else {
RCLCPP_WARN_STREAM(logger_,
"Invalid parameter color_powerline_freq "
<< formatParameterValue(color_powerline_freq_) << ". Valid values: "
<< formatValidParameterValues({"disable", "50hz", "60hz", "auto"})
<< ". Skip setting.");
color_powerline_freq_.clear();
}
if (color_powerline_freq_value >= 0 &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
color_powerline_freq_ = normalized_color_powerline_freq;
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT,
color_powerline_freq_value);
TRY_EXECUTE_BLOCK({
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_,
"Current color powerline freq: "
<< colorPowerLineFrequencyToString(current_color_powerline_freq));
});
}
TRY_EXECUTE_BLOCK({
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_,
"Current color powerline freq: "
<< colorPowerLineFrequencyToString(current_color_powerline_freq));
});
}
if (depth_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1707,7 +1721,8 @@ void OBCameraNode::setupDevices() {
"Current depth auto exposure priority: "
<< (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF")));
}
if (should_apply_launch_config("enable_ir_auto_exposure") &&
if ((should_apply_launch_config("enable_auto_exposure") ||
should_apply_launch_config("enable_ir_auto_exposure")) &&
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_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
@@ -4753,7 +4768,11 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point",
depth_brightness_);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_,
isLaunchParamProvided("enable_auto_exposure")
? "enable_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);