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feat: use name-based color preset API

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This commit is contained in:
ob-yalian
2026-06-25 16:10:45 +08:00
parent c5c2cafbdd
commit b81dd8df6a
6 changed files with 65 additions and 42 deletions
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orbbec_camera/src/ob_camera_node.cpp
+56 -25
View File
@@ -182,6 +182,14 @@ std::string lowerFilterConfigValue(std::string value) {
return value;
}
bool equalsIgnoreCase(std::string lhs, std::string rhs) {
std::transform(lhs.begin(), lhs.end(), lhs.begin(),
[](unsigned char c) { return static_cast<char>(std::tolower(c)); });
std::transform(rhs.begin(), rhs.end(), rhs.begin(),
[](unsigned char c) { return static_cast<char>(std::tolower(c)); });
return lhs == rhs;
}
std::string lowerParameterValue(std::string value) {
std::transform(value.begin(), value.end(), value.begin(),
[](unsigned char c) { return static_cast<char>(std::tolower(c)); });
@@ -1192,26 +1200,47 @@ void OBCameraNode::setupDevices() {
"Current color auto white balance: "
<< (device_->getBoolProperty(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL) ? "ON" : "OFF"));
}
if (should_apply_launch_config("color_preset") && !color_preset_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_PRESET_PRIORITY_INT, OB_PERMISSION_WRITE)) {
std::string preset_key = color_preset_;
std::transform(preset_key.begin(), preset_key.end(), preset_key.begin(), ::tolower);
int preset_value = -1;
if (preset_key == "default") {
preset_value = 0;
} else if (preset_key == "warm biased awb") {
preset_value = 1;
} else {
if (should_apply_launch_config("color_preset") && !color_preset_.empty()) {
try {
if (!device_->isColorPresetSupported()) {
RCLCPP_WARN_STREAM(logger_, "Color preset is not supported by this device");
} else {
auto color_preset_list = device_->getColorPresetList();
std::string selected_preset;
std::ostringstream supported_presets;
bool has_supported_preset = false;
const uint32_t preset_count = color_preset_list ? color_preset_list->getCount() : 0;
for (uint32_t i = 0; i < preset_count; ++i) {
const char *preset_name = color_preset_list->getName(i);
if (preset_name == nullptr || preset_name[0] == '\0') {
continue;
}
if (has_supported_preset) {
supported_presets << ", ";
}
supported_presets << preset_name;
has_supported_preset = true;
if (equalsIgnoreCase(color_preset_, preset_name)) {
selected_preset = preset_name;
}
}
if (selected_preset.empty()) {
RCLCPP_WARN_STREAM(logger_, "Unsupported color_preset: " << color_preset_
<< ". Supported values: "
<< supported_presets.str());
} else {
device_->switchColorPreset(selected_preset.c_str());
const char *current_preset = device_->getCurrentColorPresetName();
color_preset_ = current_preset != nullptr ? current_preset : selected_preset;
RCLCPP_INFO_STREAM(logger_, "Current color preset: " << color_preset_);
}
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(
logger_, "Unsupported color_preset: " << color_preset_
<< ". Supported values: Default, Warm Biased AWB");
}
if (preset_value >= 0) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_PRESET_PRIORITY_INT, preset_value);
RCLCPP_INFO_STREAM(logger_, "Current color preset: "
<< (device_->getIntProperty(OB_PROP_COLOR_PRESET_PRIORITY_INT)
? "Warm Biased AWB"
: "Default"));
logger_, "Failed to set color preset: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set color preset: " << e.what());
}
}
if (color_exposure_ != -1 &&
@@ -2413,13 +2442,15 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
}
}
sync_bool("color", "color_anti_flicker", color_anti_flicker_, OB_PROP_COLOR_ANTI_FLICKER_BOOL);
if (can_read(OB_PROP_COLOR_PRESET_PRIORITY_INT)) {
try {
const auto color_preset = device_->getIntProperty(OB_PROP_COLOR_PRESET_PRIORITY_INT);
color_preset_ = color_preset == 1 ? "Warm Biased AWB" : "Default";
log_readback("color", "color_preset", color_preset_);
} catch (const std::exception &) {
try {
if (device_->isColorPresetSupported()) {
const char *color_preset = device_->getCurrentColorPresetName();
if (color_preset != nullptr) {
color_preset_ = color_preset;
log_readback("color", "color_preset", color_preset_);
}
}
} catch (const std::exception &) {
}
if (can_read(OB_STRUCT_COLOR_AE_ROI)) {
try {
orbbec_camera/src/ros_service.cpp
+5 -15
View File
@@ -62,17 +62,6 @@ std::string alignTargetStreamToString(OBStreamType stream_type) {
}
}
std::string colorPresetToString(int value) {
switch (value) {
case 0:
return "Default";
case 1:
return "Warm Biased AWB";
default:
return "";
}
}
std::string disparityToDepthModeToString(bool hardware_enabled, bool software_enabled) {
if (hardware_enabled) {
return "HW";
@@ -1373,10 +1362,11 @@ void OBCameraNode::getDeviceConfigCallback(const std::shared_ptr<GetDeviceConfig
}
try {
const auto color_preset = device_->getIntProperty(OB_PROP_COLOR_PRESET_PRIORITY_INT);
const auto color_preset_name = colorPresetToString(color_preset);
if (!color_preset_name.empty()) {
response->color_preset = color_preset_name;
if (device_->isColorPresetSupported()) {
const char* color_preset_name = device_->getCurrentColorPresetName();
if (color_preset_name != nullptr && color_preset_name[0] != '\0') {
response->color_preset = color_preset_name;
}
}
} catch (const ob::Error& e) {
RCLCPP_DEBUG_STREAM(