Add color and IR camera parameters for enhanced configuration options…

… for dcw2
orbbec · Nov 6, 2024 · b49127f · b49127f
1 parent eaec861
commit b49127f
Showing 1 changed file with 33 additions and 5 deletions.
diff --git a/launch/dabai_dcw2.launch b/launch/dabai_dcw2.launch
@@ -18,6 +18,16 @@
   <arg name="color_format" default="MJPG" />
   <arg name="flip_color" default="false" />
   <arg name="enable_color_auto_exposure" default="true" />
+  <arg name="color_exposure" default="-1" />
+  <arg name="color_gain" default="-1" />
+  <arg name="color_white_balance" default="-1" />
+  <arg name="color_ae_max_exposure" default="-1" />
+  <arg name="color_brightness" default="-1" />
+  <arg name="color_sharpness" default="-1" />
+  <arg name="color_contrast" default="-1" />
+  <arg name="color_saturation" default="-1" />
+  <arg name="color_gamma" default="-1" />
+  <arg name="color_hue" default="-1" />
   <arg name="depth_width" default="640" />
   <arg name="depth_height" default="400" />
   <arg name="depth_fps" default="10" />
@@ -31,6 +41,10 @@
   <arg name="ir_format" default="Y10" />
   <arg name="flip_ir" default="false" />
   <arg name="enable_ir_auto_exposure" default="true" />
+  <arg name="ir_exposure" default="-1" />
+  <arg name="ir_gain" default="-1" />
+  <arg name="ir_ae_max_exposure" default="-1" />
+  <arg name="enable_ir_long_exposure" default="false" />
   <arg name="publish_tf" default="true" />
   <arg name="tf_publish_rate" default="10.0" />
   <arg name="ir_info_uri" default="" />
@@ -40,8 +54,8 @@
   <arg name="enable_soft_filter" default="true" />
   <!-- Configure the path for depth filter file, for example: /config/depthfilter/Openni_device.json -->
   <arg name="depth_filter_config" default="" />
-  <arg name="laser_energy_level" default="-1"/>
-  <arg name="enable_ldp" default="true"/>
+  <arg name="laser_energy_level" default="-1" />
+  <arg name="enable_ldp" default="true" />
   <group ns="$(arg camera_name)">
     <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="screen">
       <param name="camera_name" value="$(arg camera_name)" />
@@ -60,6 +74,16 @@
       <param name="color_format" value="$(arg color_format)" />
       <param name="flip_color" value="$(arg flip_color)" />
       <param name="enable_color_auto_exposure" value="$(arg enable_color_auto_exposure)" />
+      <param name="color_exposure" value="$(arg color_exposure)" />
+      <param name="color_gain" value="$(arg color_gain)" />
+      <param name="color_white_balance" value="$(arg color_white_balance)" />
+      <param name="color_ae_max_exposure" value="$(arg color_ae_max_exposure)" />
+      <param name="color_brightness" value="$(arg color_brightness)" />
+      <param name="color_sharpness" value="$(arg color_sharpness)" />
+      <param name="color_contrast" value="$(arg color_contrast)" />
+      <param name="color_saturation" value="$(arg color_saturation)" />
+      <param name="color_gamma" value="$(arg color_gamma)" />
+      <param name="color_hue" value="$(arg color_hue)" />
       <param name="depth_width" value="$(arg depth_width)" />
       <param name="depth_height" value="$(arg depth_height)" />
       <param name="depth_fps" value="$(arg depth_fps)" />
@@ -73,6 +97,10 @@
       <param name="ir_format" value="$(arg ir_format)" />
       <param name="flip_ir" value="$(arg flip_ir)" />
       <param name="enable_ir_auto_exposure" value="$(arg enable_ir_auto_exposure)" />
+      <param name="ir_exposure" value="$(arg ir_exposure)" />
+      <param name="ir_gain" value="$(arg ir_gain)" />
+      <param name="ir_ae_max_exposure" value="$(arg ir_ae_max_exposure)" />
+      <param name="enable_ir_long_exposure" value="$(arg enable_ir_long_exposure)" />
       <param name="publish_tf" value="$(arg publish_tf)" />
       <param name="tf_publish_rate" value="$(arg tf_publish_rate)" />
       <param name="ir_info_uri" value="$(arg ir_info_uri)" />
@@ -81,9 +109,9 @@
       <param name="enable_pipeline" value="$(arg enable_pipeline)" />
       <param name="device_num" value="$(arg device_num)" />
       <param name="enable_soft_filter" value="$(arg enable_soft_filter)" />
-      <param name="depth_filter_config" value="$(arg depth_filter_config)"/>
-      <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
-        <param name="enable_ldp" value="$(arg enable_ldp)"/>
+      <param name="depth_filter_config" value="$(arg depth_filter_config)" />
+      <param name="laser_energy_level" value="$(arg laser_energy_level)" />
+      <param name="enable_ldp" value="$(arg enable_ldp)" />
       <remap from="/$(arg camera_name)/depth/color/points"
         to="/$(arg camera_name)/depth_registered/points" />
     </node>