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feat: add setting for max gain in color auto-exposure

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slz
2026-06-23 10:33:24 +08:00
parent 5c0a930f7d
commit e2541ec584
4 changed files with 16 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -487,6 +487,7 @@ class OBCameraNode {
int color_gain_ = -1;
int color_white_balance_ = -1;
int color_ae_max_exposure_ = -1;
int color_ae_max_gain_ = -1;
int color_brightness_ = -1;
int color_sharpness_ = -1;
int color_saturation_ = -1;
orbbec_camera/launch/gemini2.launch.py
+1 -1
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@@ -38,7 +38,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_ae_max_gain', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='15'),
orbbec_camera/launch/gemini2L.launch.py
+1 -1
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@@ -38,7 +38,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_ae_max_gain', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='1280'),
DeclareLaunchArgument('depth_height', default_value='800'),
DeclareLaunchArgument('depth_fps', default_value='30'),
orbbec_camera/src/ob_camera_node.cpp
+13
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@@ -483,6 +483,18 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting color AE max exposure to " << color_ae_max_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, color_ae_max_exposure_);
}
if (color_ae_max_gain_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_GAIN_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_AE_MAX_GAIN_INT);
if (color_ae_max_gain_ < range.min || color_ae_max_gain_ > range.max) {
RCLCPP_ERROR(logger_,
"color AE max gain value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color AE max gain to " << color_ae_max_gain_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_GAIN_INT, color_ae_max_gain_);
}
}
if (color_brightness_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
@@ -1178,6 +1190,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
setAndGetNodeParameter<int>(color_ae_max_exposure_, "color_ae_max_exposure", -1);
setAndGetNodeParameter<int>(color_ae_max_gain_, "color_ae_max_gain", -1);
setAndGetNodeParameter<int>(color_brightness_, "color_brightness", -1);
setAndGetNodeParameter<int>(color_sharpness_, "color_sharpness", -1);
setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);