i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-12 15:29:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: enhance AE/AWB lock test with color-frame metadata handling

Browse Source
This commit is contained in:
ob-yalian
2026-07-29 17:00:10 +08:00
parent 84c1d4178d
commit ce5c96e901
3 changed files with 67 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/examples/ae_awb_lock/README.md
+10 -4
View File
@@ -1,7 +1,7 @@
# AE/AWB Lock Test
This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual
lock-in flow through the camera driver's services.
lock-in flow through the camera driver's services and color-frame metadata.
Run the camera driver and this sample in the same namespace:
@@ -19,9 +19,11 @@ ros2 action send_goal \
--feedback
```
The sample enables auto exposure and auto white balance, waits until the SDK status equals `1`,
captures the current exposure, color gain, AWB gains, and color temperature, disables the auto
controls, and writes the captured values back in this order:
The sample subscribes to the relative `color/metadata` topic. It enables auto exposure and auto
white balance, waits until the SDK status equals `1`, captures exposure, color gain, and color
temperature from the latest color-frame metadata, and reads AWB R/B/G gains through the structured
property service. It then disables the auto controls and writes the captured values back in this
order:
1. Color exposure
2. Color gain
@@ -35,3 +37,7 @@ the sample restores auto exposure and auto white balance.
Every feedback phase contains a fresh status value read from the camera service. The
`waiting_for_services` feedback is published after all required services become available, because
the status cannot be read before its service is ready.
The color stream must be enabled, and `/camera/color/metadata` must be available when using the
`/camera` namespace. The action fails instead of writing default values if no metadata arrives
within two seconds or if `exposure`, `gain`, or `white_balance` is missing.