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Merge remote-tracking branch 'origin/v2-main_feature/test_interleave_mode' into test_interleave_mode_opdk

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datean
2024-11-29 16:13:13 +08:00
parent 6759bb9545 43fe6904ab
commit 22836ddb89
18 changed files with 89 additions and 42 deletions
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orbbec_camera/src/ob_camera_node.cpp
+30 -30
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@@ -545,14 +545,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_,
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params);
}
@@ -561,11 +561,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
<< "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
RCLCPP_INFO_STREAM(
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig();
config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_;
@@ -860,24 +860,6 @@ void OBCameraNode::startStreams() {
colorFrameThread_ = std::make_shared<std::thread>([this]() { onNewColorFrameCallback(); });
}
// enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (interleave_frame_enable_ ? "true" : "false"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
interleave_frame_enable_);
}
}
// set interleave larse PATTERN_SYNC_DELAY
if ((interleave_ae_mode_ == "laser") &&
device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT,
OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT 0 ");
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT, 0);
}
if (enable_frame_sync_) {
RCLCPP_INFO_STREAM(logger_, "Enable frame sync");
TRY_EXECUTE_BLOCK(pipeline_->enableFrameSync());
@@ -885,6 +867,25 @@ void OBCameraNode::startStreams() {
RCLCPP_INFO_STREAM(logger_, "Disable frame sync");
TRY_EXECUTE_BLOCK(pipeline_->disableFrameSync());
}
// enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
interleave_frame_enable_);
RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (interleave_frame_enable_ ? "true" : "false"));
}
}
// set interleave larse PATTERN_SYNC_DELAY
if ((interleave_ae_mode_ == "laser") && interleave_frame_enable_ &&
device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT,
OB_PERMISSION_READ_WRITE) &&
(sync_mode_str_ == "PRIMARY" || sync_mode_str_ == "SOFTWARE_TRIGGERING")) {
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT, 0);
RCLCPP_INFO_STREAM(logger_, "Setting OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT 0 ");
}
pipeline_started_.store(true);
}
@@ -2241,7 +2242,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} else {
memcpy(image.data, video_frame->getData(), video_frame->getDataSize());
}
if (stream_index == DEPTH) {
auto depth_scale = video_frame->as<ob::DepthFrame>()->getValueScale();
image = image * depth_scale;