chore: Update color and IR camera settings in OBCameraNode

This commit updates the OBCameraNode class to include new properties for color and IR camera settings. Specifically, it adds support for setting the color brightness, color AE max exposure, IR brightness, and IR AE max exposure. These settings can now be configured through the launch file and applied to the camera device.

README.MD

@@ -281,6 +281,7 @@ The following are the launch parameters available:
 - `enable_laser`: Enables the laser. The default value is `true`.
 - `laser_on_off_mode`: Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate. The default value
   is `0`.
+- `laser_energy_level`: Laser energy level.
 - `device_preset`: The default value is `Default`. Only the G330 series is supported. For more information, refer to
   the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set
   the `device_preset` value based on your use case. The value should be one of the preset names
@@ -321,6 +322,10 @@ the default parameters from the launch file will be used. If you want to use a c
 the firmware, and if hardware logging is desired, it should also be set to `true`.
 - `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`.
 - `enable_color_undistortion`: Enables color undistortion, the default value is `false`. Note that our color cameras exhibit minimal distortion, and typically, undistortion is not necessary.
+- `color_brightness`: Color brightness.
+- `ir_brightness`: IR brightness.
+- `color_ae_max_exposure`: Color auto exposure maximum exposure.
+- `ir_ae_max_exposure`: IR auto exposure maximum exposure.
 
 **IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
 at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -115,7 +115,7 @@ const stream_index_pair INFRA2{OB_STREAM_IR_RIGHT, 0};
 const stream_index_pair GYRO{OB_STREAM_GYRO, 0};
 const stream_index_pair ACCEL{OB_STREAM_ACCEL, 0};
 
-const std::vector<stream_index_pair> IMAGE_STREAMS = {COLOR,DEPTH, INFRA0, INFRA1, INFRA2};
+const std::vector<stream_index_pair> IMAGE_STREAMS = {COLOR, DEPTH, INFRA0, INFRA1, INFRA2};
 
 const std::vector<stream_index_pair> HID_STREAMS = {GYRO, ACCEL};
 
@@ -463,8 +463,12 @@ class OBCameraNode {
   int color_exposure_ = -1;
   int color_gain_ = -1;
   int color_white_balance_ = -1;
+  int color_ae_max_exposure_ = -1;
+  int color_brightness_ = -1;
   int ir_exposure_ = -1;
   int ir_gain_ = -1;
+  int ir_ae_max_exposure_ = -1;
+  int ir_brightness_ = -1;
   int soft_filter_max_diff_ = -1;
   int soft_filter_speckle_size_ = -1;
   bool enable_frame_sync_ = false;

orbbec_camera/launch/gemini_330_series.launch.py

@@ -73,6 +73,8 @@ 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('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
         DeclareLaunchArgument('depth_fps', default_value='0'),
@@ -97,6 +99,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
+        DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
+        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('accel_rate', default_value='200hz'),

orbbec_camera/src/ob_camera_node.cpp

@@ -380,6 +380,25 @@ void OBCameraNode::setupDevices() {
     }
   }
 
+  if (device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color AE max exposure to " << color_ae_max_exposure_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, color_ae_max_exposure_);
+  }
+  if (device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
+  }
+ // ir ae max
+ if (device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting IR AE max exposure to " << ir_ae_max_exposure_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_AE_MAX_EXPOSURE_INT, ir_ae_max_exposure_);
+  }
+  // ir brightness
+  if (device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting IR brightness to " << ir_brightness_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, ir_brightness_);
+  }
+  // ir auto exposure
   if (device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
     RCLCPP_INFO_STREAM(logger_,
                        "Setting IR auto exposure to " << (enable_ir_auto_exposure_ ? "ON" : "OFF"));
@@ -1011,9 +1030,13 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
   setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
   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(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
   setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
   setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
+  setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1);
+  setAndGetNodeParameter<int>(ir_brightness_, "ir_brightness", -1);
   setAndGetNodeParameter(enable_ir_long_exposure_, "enable_ir_long_exposure", true);
   setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
   setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "");