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Add lrm_power_level param

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This commit is contained in:
jj
2025-02-25 12:04:29 +08:00
parent 68aaef55af
commit 0ef4a5738c
3 changed files with 102 additions and 22 deletions
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orbbec_camera/src/ob_camera_node.cpp
+100 -22
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@@ -217,6 +217,17 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting LRM to " << (enable_lrm_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_lrm_);
}
if (lrm_power_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT);
if (lrm_power_level_ < range.min || lrm_power_level_ > range.max) {
RCLCPP_ERROR(logger_, "lrm power level value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting lrm power level to " << lrm_power_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, lrm_power_level_);
}
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
@@ -368,7 +379,6 @@ void OBCameraNode::setupDevices() {
}
if (color_white_balance_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_WHITE_BALANCE_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_WHITE_BALANCE_INT);
if (color_white_balance_ < range.min || color_white_balance_ > range.max) {
RCLCPP_ERROR(logger_,
@@ -382,38 +392,82 @@ void OBCameraNode::setupDevices() {
if (color_ae_max_exposure_ != -1 &&
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_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT);
if (color_ae_max_exposure_ < range.min || color_ae_max_exposure_ > range.max) {
RCLCPP_ERROR(logger_,
"color AE max exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
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 (color_brightness_ != -1 &&
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_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_BRIGHTNESS_INT);
if (color_brightness_ < range.min || color_brightness_ > range.max) {
RCLCPP_ERROR(logger_, "color brightness value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
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_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_SHARPNESS_INT);
if (color_sharpness_ < range.min || color_sharpness_ > range.max) {
RCLCPP_ERROR(logger_, "color sharpness value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color sharpness to " << color_sharpness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SHARPNESS_INT, color_sharpness_);
}
}
if (color_gamma_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_GAMMA_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color gamm to " << color_gamma_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAMMA_INT, color_gamma_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_GAMMA_INT);
if (color_gamma_ < range.min || color_gamma_ > range.max) {
RCLCPP_ERROR(logger_, "color gamm value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color gamm to " << color_gamma_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_GAMMA_INT, color_gamma_);
}
}
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_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_SATURATION_INT);
if (color_saturation_ < range.min || color_saturation_ > range.max) {
RCLCPP_ERROR(logger_, "color saturation value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color saturation to " << color_saturation_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_SATURATION_INT, color_saturation_);
}
}
if (color_constrast_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_CONTRAST_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color constrast to " << color_constrast_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_CONTRAST_INT, color_constrast_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_CONTRAST_INT);
if (color_constrast_ < range.min || color_constrast_ > range.max) {
RCLCPP_ERROR(logger_, "color constrast value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color constrast to " << color_constrast_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_CONTRAST_INT, color_constrast_);
}
}
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_);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_HUE_INT);
if (color_hue_ < range.min || color_hue_ > range.max) {
RCLCPP_ERROR(logger_, "color hue value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting color hue to " << color_hue_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_HUE_INT, color_hue_);
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, OB_PERMISSION_WRITE)) {
int set_enable_color_backlight_compenstation = enable_color_backlight_compenstation_ ? 1 : 0;
@@ -431,21 +485,44 @@ void OBCameraNode::setupDevices() {
}
if (depth_mean_intensity_set_point_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting depth mea intensity set point to " << depth_mean_intensity_set_point_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_mean_intensity_set_point_);
auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
if (depth_mean_intensity_set_point_ < range.min ||
depth_mean_intensity_set_point_ > range.max) {
RCLCPP_ERROR(
logger_,
"depth mean intensity set point value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(
logger_, "Setting depth mean intensity set point to " << depth_mean_intensity_set_point_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT,
depth_mean_intensity_set_point_);
}
}
// ir ae max
if (ir_ae_max_exposure_ != -1 &&
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_);
auto range = device_->getIntPropertyRange(OB_PROP_IR_AE_MAX_EXPOSURE_INT);
if (ir_ae_max_exposure_ < range.min || ir_ae_max_exposure_ > range.max) {
RCLCPP_ERROR(logger_,
"IR AE max exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
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 (ir_brightness_ != -1 &&
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_);
auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
if (ir_brightness_ < range.min || ir_brightness_ > range.max) {
RCLCPP_ERROR(logger_, "IR brightness value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting IR brightness to " << ir_brightness_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, ir_brightness_);
}
}
if (ir_exposure_ != -1 &&
@@ -1309,6 +1386,7 @@ void OBCameraNode::getParameters() {
depth_registration_ = false;
}
setAndGetNodeParameter<bool>(enable_lrm_, "enable_lrm", true);
setAndGetNodeParameter<int>(lrm_power_level_, "lrm_power_level", -1);
setAndGetNodeParameter<int>(soft_filter_max_diff_, "soft_filter_max_diff", -1);
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);