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Add enable_color_backlight_compenstation param

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This commit is contained in:
jj
2025-02-12 18:03:41 +08:00
parent f2ff055891
commit e6af9eabaa
3 changed files with 8 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -506,6 +506,7 @@ class OBCameraNode {
int color_saturation_ = -1;
int color_constrast_ = -1;
int color_hue_ = -1;
int enable_color_backlight_compenstation_ = -1;
int ir_exposure_ = -1;
int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -82,6 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_constrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+6
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@@ -415,6 +415,11 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting color hue to " << color_hue_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
}
if (enable_color_backlight_compenstation_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color backlight compenstation to " << (enable_color_backlight_compenstation_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, enable_color_backlight_compenstation_);
}
// ir ae max
if (ir_ae_max_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1269,6 +1274,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
setAndGetNodeParameter<int>(color_constrast_, "color_constrast", -1);
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<int>(enable_color_backlight_compenstation_, "enable_color_backlight_compenstation", -1);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);