new camera calibraction add hik param

2026-03-26 06:06:29 +08:00
parent dfacb8b8d5
commit 0185a7737f
1 changed files with 4 additions and 0 deletions
--- a/src/camera_calibration/launch/calibration_launch.py
+++ b/src/camera_calibration/launch/calibration_launch.py
@@ -31,6 +31,8 @@ def generate_launch_description():
        DeclareLaunchArgument('grid_cols', default_value='6'),
        DeclareLaunchArgument('grid_rows', default_value='5'),
        DeclareLaunchArgument('min_samples_per_cell', default_value='1'),
+        DeclareLaunchArgument('exposure_time', default_value='3000'),
+        DeclareLaunchArgument('gain', default_value='16.0'),
    ]

    # HikCamera node
@@ -41,6 +43,8 @@ def generate_launch_description():
        emulate_tty=True,
        parameters=[hik_params_file, {
            'camera_info_url': hik_camera_info_url,
+            'exposure_time': LaunchConfiguration('exposure_time'),
+            'gain': LaunchConfiguration('gain'),
        }],
    )