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feat: add color_roi_brightness parameter and handling in camera node

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This commit is contained in:
ob-yalian
2025-12-09 16:11:11 +08:00
parent c8f11cf94b
commit 6a50737ed6
3 changed files with 28 additions and 13 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -638,6 +638,7 @@ class OBCameraNode {
int color_white_balance_ = -1;
int color_ae_max_exposure_ = -1;
int color_brightness_ = -1;
int color_roi_brightness_ = -1;
int color_sharpness_ = -1;
int color_gamma_ = -1;
int color_saturation_ = -1;
orbbec_camera/launch/gemini435_le.launch.py
+1
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@@ -106,6 +106,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('color_roi_brightness', default_value='-1'),
DeclareLaunchArgument('color_sharpness', default_value='-1'),
DeclareLaunchArgument('color_gamma', default_value='-1'),
DeclareLaunchArgument('color_saturation', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+26 -13
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@@ -552,6 +552,18 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
}
}
if (color_roi_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_ROI_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_ROI_BRIGHTNESS_INT);
if (color_roi_brightness_ < range.min || color_roi_brightness_ > range.max) {
RCLCPP_ERROR(logger_,
"color roi brightness value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color roi brightness to " << color_roi_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_ROI_BRIGHTNESS_INT, color_roi_brightness_);
}
}
if (color_sharpness_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_SHARPNESS_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_SHARPNESS_INT);
@@ -1779,7 +1791,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(color_info_url_, "color_info_url", "");
setAndGetNodeParameter<bool>(enable_colored_point_cloud_, "enable_colored_point_cloud", false);
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
setAndGetNodeParameter<int>(point_cloud_decimation_filter_factor_, "point_cloud_decimation_filter_factor", 1);
setAndGetNodeParameter<int>(point_cloud_decimation_filter_factor_,
"point_cloud_decimation_filter_factor", 1);
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "HW");
@@ -1802,6 +1815,7 @@ void OBCameraNode::getParameters() {
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<int>(color_roi_brightness_, "color_roi_brightness", -1);
setAndGetNodeParameter<int>(color_sharpness_, "color_sharpness", -1);
setAndGetNodeParameter<int>(color_gamma_, "color_gamma", -1);
setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
@@ -2325,33 +2339,32 @@ void OBCameraNode::setupPublishers() {
}
if (enable_stream_[DEPTH] && enable_stream_[INFRA0] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA0] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_ir", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_ir", extrinsics_qos);
}
if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[COLOR] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_color", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_color",
extrinsics_qos);
}
if (enable_stream_[DEPTH] && enable_stream_[INFRA1] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA1] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_left_ir", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_left_ir",
extrinsics_qos);
}
if (enable_stream_[DEPTH] && enable_stream_[INFRA2] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA2] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_right_ir", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_right_ir",
extrinsics_qos);
}
if (enable_stream_[DEPTH] && enable_stream_[ACCEL] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[ACCEL] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_accel", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_accel",
extrinsics_qos);
}
if (enable_stream_[DEPTH] && enable_stream_[GYRO] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[GYRO] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"depth_to_gyro", extrinsics_qos);
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("depth_to_gyro",
extrinsics_qos);
}
filter_status_pub_ =
node_->create_publisher<std_msgs::msg::String>("depth_filter_status", extrinsics_qos);