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Update Gemini 330 HDR default parameters

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This commit is contained in:
obyalian
2025-09-26 17:33:09 +08:00
parent 33fc96c890
commit 9698ea0809
9 changed files with 36 additions and 36 deletions
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orbbec_camera/config/common.yaml
+4 -4
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@@ -412,13 +412,13 @@ orbbec_ros:
hdr_index1_laser_control: 1 hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1 hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16 hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20 hdr_index1_ir_brightness: 30
hdr_index1_ir_ae_max_exposure: 2000 hdr_index1_ir_ae_max_exposure: 30458
hdr_index0_laser_control: 1 hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500 hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16 hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60 hdr_index0_ir_brightness: 90
hdr_index0_ir_ae_max_exposure: 10000 hdr_index0_ir_ae_max_exposure: 30458
interleave_laser_param: interleave_laser_param:
laser_index1_laser_control: 0 laser_index1_laser_control: 0
orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
+4 -4
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@@ -242,13 +242,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
+4 -4
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@@ -242,13 +242,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py
+4 -4
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@@ -186,13 +186,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
+4 -4
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@@ -242,13 +242,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4 -4
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@@ -792,13 +792,13 @@ class OBCameraNode {
int hdr_index1_laser_control_ = 1; int hdr_index1_laser_control_ = 1;
int hdr_index1_depth_exposure_ = 1; int hdr_index1_depth_exposure_ = 1;
int hdr_index1_depth_gain_ = 16; int hdr_index1_depth_gain_ = 16;
int hdr_index1_ir_brightness_ = 20; int hdr_index1_ir_brightness_ = 30;
int hdr_index1_ir_ae_max_exposure_ = 2000; int hdr_index1_ir_ae_max_exposure_ = 30458;
int hdr_index0_laser_control_ = 1; int hdr_index0_laser_control_ = 1;
int hdr_index0_depth_exposure_ = 7500; int hdr_index0_depth_exposure_ = 7500;
int hdr_index0_depth_gain_ = 16; int hdr_index0_depth_gain_ = 16;
int hdr_index0_ir_brightness_ = 60; int hdr_index0_ir_brightness_ = 90;
int hdr_index0_ir_ae_max_exposure_ = 10000; int hdr_index0_ir_ae_max_exposure_ = 30458;
int laser_index1_laser_control_ = 0; int laser_index1_laser_control_ = 0;
int laser_index1_depth_exposure_ = 3000; int laser_index1_depth_exposure_ = 3000;
orbbec_camera/launch/gemini_330_series.launch.py
+4 -4
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@@ -270,13 +270,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+4 -4
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@@ -269,13 +269,13 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
orbbec_camera/src/ob_camera_node.cpp
+4 -4
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@@ -1921,15 +1921,15 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(hdr_index1_laser_control_, "hdr_index1_laser_control", 1); setAndGetNodeParameter<int>(hdr_index1_laser_control_, "hdr_index1_laser_control", 1);
setAndGetNodeParameter<int>(hdr_index1_depth_exposure_, "hdr_index1_depth_exposure", 1); setAndGetNodeParameter<int>(hdr_index1_depth_exposure_, "hdr_index1_depth_exposure", 1);
setAndGetNodeParameter<int>(hdr_index1_depth_gain_, "hdr_index1_depth_gain", 16); setAndGetNodeParameter<int>(hdr_index1_depth_gain_, "hdr_index1_depth_gain", 16);
setAndGetNodeParameter<int>(hdr_index1_ir_brightness_, "hdr_index1_ir_brightness", 20); setAndGetNodeParameter<int>(hdr_index1_ir_brightness_, "hdr_index1_ir_brightness", 30);
setAndGetNodeParameter<int>(hdr_index1_ir_ae_max_exposure_, "hdr_index1_ir_ae_max_exposure", setAndGetNodeParameter<int>(hdr_index1_ir_ae_max_exposure_, "hdr_index1_ir_ae_max_exposure",
2000); 30458);
setAndGetNodeParameter<int>(hdr_index0_laser_control_, "hdr_index0_laser_control", 1); setAndGetNodeParameter<int>(hdr_index0_laser_control_, "hdr_index0_laser_control", 1);
setAndGetNodeParameter<int>(hdr_index0_depth_exposure_, "hdr_index0_depth_exposure", 7500); setAndGetNodeParameter<int>(hdr_index0_depth_exposure_, "hdr_index0_depth_exposure", 7500);
setAndGetNodeParameter<int>(hdr_index0_depth_gain_, "hdr_index0_depth_gain", 16); setAndGetNodeParameter<int>(hdr_index0_depth_gain_, "hdr_index0_depth_gain", 16);
setAndGetNodeParameter<int>(hdr_index0_ir_brightness_, "hdr_index0_ir_brightness", 60); setAndGetNodeParameter<int>(hdr_index0_ir_brightness_, "hdr_index0_ir_brightness", 90);
setAndGetNodeParameter<int>(hdr_index0_ir_ae_max_exposure_, "hdr_index0_ir_ae_max_exposure", setAndGetNodeParameter<int>(hdr_index0_ir_ae_max_exposure_, "hdr_index0_ir_ae_max_exposure",
10000); 30458);
setAndGetNodeParameter<int>(laser_index1_laser_control_, "laser_index1_laser_control", 0); setAndGetNodeParameter<int>(laser_index1_laser_control_, "laser_index1_laser_control", 0);
setAndGetNodeParameter<int>(laser_index1_depth_exposure_, "laser_index1_depth_exposure", 3000); setAndGetNodeParameter<int>(laser_index1_depth_exposure_, "laser_index1_depth_exposure", 3000);