add more color params

orbbec · Nov 5, 2024 · 392f62f · 392f62f
1 parent cceaec7
commit 392f62f
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Showing 4 changed files with 48 additions and 0 deletions.
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -465,6 +465,11 @@ class OBCameraNode {
   int color_white_balance_ = -1;
   int color_ae_max_exposure_ = -1;
   int color_brightness_ = -1;
+  int color_sharpness_ = -1;
+  int color_saturation_ = -1;
+  int color_contrast_ = -1;
+  int color_gamma_ = -1;
+  int color_hue_ = -1;
   int ir_exposure_ = -1;
   int ir_gain_ = -1;
   int ir_ae_max_exposure_ = -1;

diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py
@@ -37,6 +37,13 @@ def generate_launch_description():
         DeclareLaunchArgument('color_gain', default_value='-1'),
         DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
+        DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
+        DeclareLaunchArgument('color_brightness', default_value='-1'),
+        DeclareLaunchArgument('color_sharpness', default_value='-1'),
+        DeclareLaunchArgument('color_saturation', default_value='-1'),
+        DeclareLaunchArgument('color_contrast', default_value='-1'),
+        DeclareLaunchArgument('color_gamma', default_value='-1'),
+        DeclareLaunchArgument('color_hue', default_value='-1'),
         DeclareLaunchArgument('depth_width', default_value='640'),
         DeclareLaunchArgument('depth_height', default_value='400'),
         DeclareLaunchArgument('depth_fps', default_value='10'),

diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -75,6 +75,11 @@ def generate_launch_description():
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
         DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
         DeclareLaunchArgument('color_brightness', default_value='-1'),
+        DeclareLaunchArgument('color_sharpness', default_value='-1'),
+        DeclareLaunchArgument('color_saturation', default_value='-1'),
+        DeclareLaunchArgument('color_contrast', default_value='-1'),
+        DeclareLaunchArgument('color_gamma', default_value='-1'),
+        DeclareLaunchArgument('color_hue', default_value='-1'),
         DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
         DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
         DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
@@ -418,6 +418,32 @@ void OBCameraNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
   }
+  if (color_sharpness_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_SHARPNESS_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color sharpness to " << color_sharpness_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SHARPNESS_INT, color_sharpness_);
+  }
+  if (color_saturation_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_SATURATION_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color saturation to " << color_saturation_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SATURATION_INT, color_saturation_);
+  }
+  if (color_contrast_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_CONTRAST_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color contrast to " << color_contrast_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_CONTRAST_INT, color_contrast_);
+  }
+  if (color_gamma_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_GAMMA_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color gamma to " << color_gamma_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAMMA_INT, color_gamma_);
+  }
+  if (color_hue_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_HUE_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color hue to " << color_hue_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
+  }
+
   // ir ae max
   if (ir_ae_max_exposure_ != -1 &&
       device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1064,6 +1090,11 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
   setAndGetNodeParameter<int>(color_ae_max_exposure_, "color_ae_max_exposure", -1);
   setAndGetNodeParameter<int>(color_brightness_, "color_brightness", -1);
+  setAndGetNodeParameter<int>(color_sharpness_, "color_sharpness", -1);
+  setAndGetNodeParameter<int>(color_saturation_, "color_saturation", -1);
+  setAndGetNodeParameter<int>(color_contrast_, "color_contrast", -1);
+  setAndGetNodeParameter<int>(color_gamma_, "color_gamma", -1);
+  setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
   setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
   setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
   setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);