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Add enable_color_auto_exposure_priority param

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jj
2025-02-12 17:52:23 +08:00
parent 1e2ae1ad45
commit f2ff055891
3 changed files with 12 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -1
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@@ -353,6 +353,13 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAIN_INT, color_gain_);
}
}
if (enable_color_auto_exposure_priority_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color auto exposure priority to "
<< (enable_color_auto_exposure_priority_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT,
enable_color_auto_exposure_priority_);
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF"));
@@ -1248,6 +1255,8 @@ void OBCameraNode::getParameters() {
enable_depth_filter_ = true;
}
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);
setAndGetNodeParameter(enable_color_auto_exposure_priority_,
"enable_color_auto_exposure_priority", -1);
setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_color_auto_white_balance_, "enable_color_auto_white_balance", true);
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
@@ -1954,7 +1963,7 @@ void OBCameraNode::setDisparitySearchOffset() {
RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: "
<< disparity_offset_config_ << " offset_index0:"
<< offset_index0_ << " offset_index1:" << offset_index1_);
}
}
}
has_run = true;
}