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[exposure]Set auto_exposure to take precedence over exposure parameters

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This commit is contained in:
jj
2024-12-06 09:33:47 +08:00
parent 9ad8fa1347
commit 1b2d698c93
1 changed files with 12 additions and 18 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -18
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@@ -357,12 +357,6 @@ void OBCameraNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL,
enable_color_auto_exposure_);
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color auto white balance to "
<< (enable_color_auto_white_balance_ ? "ON" : "OFF"));
@@ -371,7 +365,6 @@ void OBCameraNode::setupDevices() {
}
if (color_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_EXPOSURE_INT);
if (color_exposure_ < range.min || color_exposure_ > range.max) {
RCLCPP_ERROR(logger_, "color exposure value is out of range[%d,%d], please check the value",
@@ -383,7 +376,6 @@ void OBCameraNode::setupDevices() {
}
if (color_gain_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_GAIN_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_COLOR_GAIN_INT);
if (color_gain_ < range.min || color_gain_ > range.max) {
RCLCPP_ERROR(logger_, "color gain value is out of range[%d,%d], please check the value",
@@ -406,7 +398,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_WHITE_BALANCE_INT, color_white_balance_);
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(
logger_, "Setting color auto exposure to " << (enable_color_auto_exposure_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL,
enable_color_auto_exposure_);
}
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_);
@@ -455,15 +452,8 @@ void OBCameraNode::setupDevices() {
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"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
}
if (ir_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_IR_EXPOSURE_INT);
if (ir_exposure_ < range.min || ir_exposure_ > range.max) {
RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
@@ -474,7 +464,6 @@ void OBCameraNode::setupDevices() {
}
}
if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_IR_GAIN_INT);
if (ir_gain_ < range.min || ir_gain_ > range.max) {
RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value",
@@ -484,7 +473,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_GAIN_INT, ir_gain_);
}
}
// 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"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
}
if (device_->isPropertySupported(OB_PROP_IR_LONG_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_,
"Setting IR long exposure to " << (enable_ir_long_exposure_ ? "ON" : "OFF"));