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feat(gemini-330): add ISP denoising parameter color_denoising_level

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obyalian
2025-09-23 15:46:11 +08:00
parent fcf2f94673
commit f047b82690
11 changed files with 25 additions and 9 deletions
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orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
+1 -1
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@@ -95,7 +95,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
+1 -1
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@@ -95,7 +95,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
+1 -1
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@@ -95,7 +95,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -635,6 +635,7 @@ class OBCameraNode {
std::string color_powerline_freq_;
bool enable_color_decimation_filter_ = false;
int color_decimation_filter_scale_ = -1;
int color_denoising_level_ = -1;
// depth ae roi
int depth_ae_roi_left_ = -1;
int depth_ae_roi_top_ = -1;
orbbec_camera/launch/dabai_a.launch.py
+1 -1
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@@ -85,7 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
orbbec_camera/launch/dabai_al.launch.py
+1 -1
View File
@@ -85,7 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
orbbec_camera/launch/gemini345.launch.py
+1 -1
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@@ -85,7 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
orbbec_camera/launch/gemini435_le.launch.py
+1 -1
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@@ -111,7 +111,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini_330_series.launch.py
+4
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@@ -115,6 +115,9 @@ def generate_launch_description():
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
#Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
@@ -176,6 +179,7 @@ def generate_launch_description():
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
# If you do not want to automatically enumerate network devices,
# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+4 -1
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@@ -112,10 +112,13 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
#Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
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
+9 -1
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@@ -231,7 +231,9 @@ void OBCameraNode::setupDevices() {
enable_stream_[stream_index] = false;
}
}
auto info = device_->getDeviceInfo();
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
auto pid = device_info->getPid();
if (retry_on_usb3_detection_failure_ &&
device_->isPropertySupported(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
@@ -607,6 +609,11 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT,
color_backlight_compensation_);
}
if (isGemini335PID(pid) && color_denoising_level_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_DENOISING_LEVEL_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color denoising level to " << color_denoising_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_DENOISING_LEVEL_INT, color_denoising_level_);
}
if (!color_powerline_freq_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
if (color_powerline_freq_ == "disable") {
@@ -1780,6 +1787,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_contrast_, "color_contrast", -1);
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<int>(color_backlight_compensation_, "color_backlight_compensation", -1);
setAndGetNodeParameter<int>(color_denoising_level_, "color_denoising_level", -1);
setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", "");
setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
false);