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Add parameter enable_color_auto_exposure_priority

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slz
2025-10-21 14:41:10 +08:00
parent 141de3a620
commit 879d0b4c1d
7 changed files with 17 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -465,6 +465,7 @@ class OBCameraNode {
std::string depth_filter_config_;
bool enable_depth_filter_ = false;
bool enable_soft_filter_ = true;
bool enable_color_auto_exposure_priority_ = false;
bool enable_color_auto_exposure_ = true;
bool enable_color_auto_white_balance_ = true;
bool enable_ir_auto_exposure_ = true;
orbbec_camera/launch/dabai.launch.py
+1
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@@ -33,6 +33,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/launch/dabai_dcl.py
+1
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@@ -33,6 +33,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/launch/dabai_dcw.launch.py
+1
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@@ -33,6 +33,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -33,6 +33,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -70,6 +70,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('color_rotation', default_value='0'),#color rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+11
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@@ -422,6 +422,15 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_WHITE_BALANCE_INT, color_white_balance_);
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color auto exposure priority to "
<< (enable_color_auto_exposure_priority_ ? "true" : "false"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT,
enable_color_auto_exposure_priority_);
RCLCPP_INFO_STREAM(logger_,
"color auto exposure priority is set to "
<< device_->getBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT));
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF"));
@@ -1119,6 +1128,8 @@ void OBCameraNode::getParameters() {
enable_depth_filter_ = true;
}
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);
setAndGetNodeParameter<bool>(enable_color_auto_exposure_priority_,
"enable_color_auto_exposure_priority", false);
setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_color_auto_white_balance_, "enable_color_auto_white_balance", true);
setAndGetNodeParameter<int>(color_rotation_, "color_rotation", -1);