i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-12 23:39:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add color_denoising_level launch argument and update handling in OBCameraNode

Browse Source
This commit is contained in:
ob-yalian
2026-04-17 16:53:26 +08:00
parent 3dc25a9be4
commit 5f5ca3ad42
3 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/gemini2.launch.py
+1
View File
@@ -44,6 +44,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"), DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
DeclareLaunchArgument("color_white_balance", default_value="-1"), DeclareLaunchArgument("color_white_balance", default_value="-1"),
DeclareLaunchArgument("color_brightness", default_value="-1"), DeclareLaunchArgument("color_brightness", default_value="-1"),
DeclareLaunchArgument('color_denoising_level', default_value='-1')
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument("depth_width", default_value="0"), DeclareLaunchArgument("depth_width", default_value="0"),
orbbec_camera/launch/gemini2L.launch.py
+1
View File
@@ -40,6 +40,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"), DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
DeclareLaunchArgument("color_white_balance", default_value="-1"), DeclareLaunchArgument("color_white_balance", default_value="-1"),
DeclareLaunchArgument("color_brightness", default_value="-1"), DeclareLaunchArgument("color_brightness", default_value="-1"),
DeclareLaunchArgument("color_denoising_level", default_value="-1"),
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument("depth_width", default_value="1280"), DeclareLaunchArgument("depth_width", default_value="1280"),
orbbec_camera/src/ob_camera_node.cpp
+1 -1
View File
@@ -1155,7 +1155,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Current color backlight compensation: " << device_->getIntProperty( RCLCPP_INFO_STREAM(logger_, "Current color backlight compensation: " << device_->getIntProperty(
OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT)); OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT));
} }
if (isGemini335PID(pid_) && color_denoising_level_ != -1 && if (color_denoising_level_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_DENOISING_LEVEL_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_COLOR_DENOISING_LEVEL_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_DENOISING_LEVEL_INT, color_denoising_level_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_DENOISING_LEVEL_INT, color_denoising_level_);
RCLCPP_INFO_STREAM(logger_, "Current color denoising level: " RCLCPP_INFO_STREAM(logger_, "Current color denoising level: "