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jian-dongjian-dong
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chore: Add exposure && gain && white balance params
1 parent 4fdd46c commit 66e86ee

32 files changed

+227
-4
lines changed

‎orbbec_camera/include/orbbec_camera/ob_camera_node.h‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -441,9 +441,15 @@ class OBCameraNode {
441441
bool enable_depth_filter_ = false;
442442
bool enable_soft_filter_ = true;
443443
bool enable_color_auto_exposure_ = true;
444+
bool enable_color_auto_white_balance_ = true;
444445
bool enable_ir_auto_exposure_ = true;
445446
bool enable_ir_long_exposure_ = false;
446447
bool enable_ldp_ = true;
448+
int color_exposure_ = -1;
449+
int color_gain_ = -1;
450+
int color_white_balance_ = -1;
451+
int ir_exposure_ = -1;
452+
int ir_gain_ = -1;
447453
int soft_filter_max_diff_ = -1;
448454
int soft_filter_speckle_size_ = -1;
449455
bool enable_frame_sync_ = false;

‎orbbec_camera/launch/astra.launch.py‎

Lines changed: 10 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
1+
import os
12
from launch import LaunchDescription
23
from launch.actions import DeclareLaunchArgument
3-
from launch.substitutions import LaunchConfiguration
4-
from launch_ros.actions import PushRosNamespace
54
from launch.actions import GroupAction
5+
from launch.substitutions import LaunchConfiguration
66
from launch_ros.actions import ComposableNodeContainer
7-
from launch_ros.descriptions import ComposableNode
87
from launch_ros.actions import Node
9-
import os
8+
from launch_ros.actions import PushRosNamespace
9+
from launch_ros.descriptions import ComposableNode
1010

1111

1212
def generate_launch_description():
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='480'),
3741
DeclareLaunchArgument('depth_fps', default_value='10'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/astra2.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='800'),
3640
DeclareLaunchArgument('depth_height', default_value='600'),
3741
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('enable_accel', default_value='false'),
5359
DeclareLaunchArgument('accel_rate', default_value='100hz'),
5460
DeclareLaunchArgument('accel_range', default_value='4g'),

‎orbbec_camera/launch/astra_adv.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='480'),
3741
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/astra_embedded_s.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='400'),
3741
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/astra_pro2.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='480'),
3741
DeclareLaunchArgument('depth_fps', default_value='10'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/astra_stereo_u3.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='400'),
3741
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/dabai.launch.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='400'),
3741
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('publish_tf', default_value='true'),
5359
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
5460
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/dabai_d1.launch.py‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -38,6 +38,8 @@ def generate_launch_description():
3838
DeclareLaunchArgument('ir_qos', default_value='default'),
3939
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
4040
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
41+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
42+
DeclareLaunchArgument('ir_gain', default_value='-1'),
4143
DeclareLaunchArgument('publish_tf', default_value='true'),
4244
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
4345
DeclareLaunchArgument('ir_info_url', default_value=''),

‎orbbec_camera/launch/dabai_dcl.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ def generate_launch_description():
3232
DeclareLaunchArgument('color_qos', default_value='default'),
3333
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
3434
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
35+
DeclareLaunchArgument('color_exposure', default_value='-1'),
36+
DeclareLaunchArgument('color_gain', default_value='-1'),
37+
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
38+
DeclareLaunchArgument('color_white_balance', default_value='-1'),
3539
DeclareLaunchArgument('depth_width', default_value='640'),
3640
DeclareLaunchArgument('depth_height', default_value='400'),
3741
DeclareLaunchArgument('depth_fps', default_value='15'),
@@ -49,6 +53,8 @@ def generate_launch_description():
4953
DeclareLaunchArgument('ir_qos', default_value='default'),
5054
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
5155
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
56+
DeclareLaunchArgument('ir_exposure', default_value='-1'),
57+
DeclareLaunchArgument('ir_gain', default_value='-1'),
5258
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
5359
DeclareLaunchArgument('enable_accel', default_value='false'),
5460
DeclareLaunchArgument('accel_rate', default_value='100hz'),

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