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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/include/orbbec_camera/ob_camera_node.h
+1
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@@ -490,6 +490,7 @@ class OBCameraNode {
std::string depth_filter_config_; std::string depth_filter_config_;
bool enable_depth_filter_ = false; bool enable_depth_filter_ = false;
bool enable_soft_filter_ = true; bool enable_soft_filter_ = true;
int enable_color_auto_exposure_priority_ = -1;
bool enable_color_auto_exposure_ = true; bool enable_color_auto_exposure_ = true;
bool enable_color_auto_white_balance_ = true; bool enable_color_auto_white_balance_ = true;
bool enable_ir_auto_exposure_ = true; bool enable_ir_auto_exposure_ = true;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -69,6 +69,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color', default_value='true'), DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'), DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'), DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_exposure', default_value='-1'), DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'), DeclareLaunchArgument('color_gain', default_value='-1'),
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_); 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)) { if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF")); logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF"));
@@ -1248,6 +1255,8 @@ void OBCameraNode::getParameters() {
enable_depth_filter_ = true; enable_depth_filter_ = true;
} }
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false); 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_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_color_auto_white_balance_, "enable_color_auto_white_balance", true); setAndGetNodeParameter(enable_color_auto_white_balance_, "enable_color_auto_white_balance", true);
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1); setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
@@ -1954,7 +1963,7 @@ void OBCameraNode::setDisparitySearchOffset() {
RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: " RCLCPP_INFO_STREAM(logger_, "disparity_offset_config: "
<< disparity_offset_config_ << " offset_index0:" << disparity_offset_config_ << " offset_index0:"
<< offset_index0_ << " offset_index1:" << offset_index1_); << offset_index0_ << " offset_index1:" << offset_index1_);
} }
} }
has_run = true; has_run = true;
} }