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update RGB backlight compensation: replace on/off switch with multi-level values

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obyalian
2025-09-23 15:46:11 +08:00
parent 6e1013bf8a
commit fcf2f94673
11 changed files with 16 additions and 17 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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), 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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), 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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
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@@ -631,7 +631,7 @@ class OBCameraNode {
int color_saturation_ = -1; int color_saturation_ = -1;
int color_contrast_ = -1; int color_contrast_ = -1;
int color_hue_ = -1; int color_hue_ = -1;
bool enable_color_backlight_compensation_ = false; int color_backlight_compensation_ = -1;
std::string color_powerline_freq_; std::string color_powerline_freq_;
bool enable_color_decimation_filter_ = false; bool enable_color_decimation_filter_ = false;
int color_decimation_filter_scale_ = -1; int color_decimation_filter_scale_ = -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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'), DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'), DeclareLaunchArgument('depth_height', default_value='0'),
orbbec_camera/launch/dabai_al.launch.py
+1 -1
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@@ -85,7 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'), DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'), DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', 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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('depth_width', default_value='0'), DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', 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_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -111,7 +111,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'), DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1 -1
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@@ -112,7 +112,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_saturation', default_value='-1'), DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compensation', default_value='false'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+6 -7
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@@ -600,12 +600,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
} }
} }
if (device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) { if (color_backlight_compensation_ != -1 &&
int set_enable_color_backlight_compensation = enable_color_backlight_compensation_ ? 1 : 0; device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color backlight compensation to " RCLCPP_INFO_STREAM(logger_,
<< (set_enable_color_backlight_compensation ? "ON" : "OFF")); "Setting color backlight compensation to " << color_backlight_compensation_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT,
set_enable_color_backlight_compensation); color_backlight_compensation_);
} }
if (!color_powerline_freq_.empty() && if (!color_powerline_freq_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
@@ -1779,8 +1779,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1); setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
setAndGetNodeParameter<int>(color_contrast_, "color_contrast", -1); setAndGetNodeParameter<int>(color_contrast_, "color_contrast", -1);
setAndGetNodeParameter<int>(color_hue_, "color_hue", -1); setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
setAndGetNodeParameter<bool>(enable_color_backlight_compensation_, setAndGetNodeParameter<int>(color_backlight_compensation_, "color_backlight_compensation", -1);
"enable_color_backlight_compensation", false);
setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", ""); setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", "");
setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter", setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
false); false);