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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/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);