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Added Color and depth AE ROI

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This commit is contained in:
Joe Dong
2024-09-26 09:45:15 +08:00
parent 81ed54ffdc
commit 2df73559f2
3 changed files with 69 additions and 15 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+10
View File
@@ -573,5 +573,15 @@ class OBCameraNode {
bool has_first_color_frame_ = false;
bool use_intra_process_ = false;
std::string cloud_frame_id_;
// color ae roi
int color_ae_roi_left_ = -1;
int color_ae_roi_top_ = -1;
int color_ae_roi_right_ = -1;
int color_ae_roi_bottom_ = -1;
// depth ae roi
int depth_ae_roi_left_ = -1;
int depth_ae_roi_top_ = -1;
int depth_ae_roi_right_ = -1;
int depth_ae_roi_bottom_ = -1;
};
} // namespace orbbec_camera
orbbec_camera/launch/gemini_330_series.launch.py
+8
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@@ -75,6 +75,10 @@ def generate_launch_description():
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
@@ -82,6 +86,10 @@ def generate_launch_description():
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+51 -15
View File
@@ -271,6 +271,34 @@ void OBCameraNode::setupDevices() {
}
}
if (color_ae_roi_left_ != -1 && color_ae_roi_top_ != -1 && color_ae_roi_right_ != -1 &&
color_ae_roi_bottom_ != -1 &&
device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color AE ROI to "
<< color_ae_roi_left_ << ", " << color_ae_roi_top_ << ", "
<< color_ae_roi_right_ << ", " << color_ae_roi_bottom_);
AE_ROI roi;
roi.x0_left = color_ae_roi_left_;
roi.y0_top = color_ae_roi_top_;
roi.x1_right = color_ae_roi_right_;
roi.y1_bottom = color_ae_roi_bottom_;
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI, &roi, sizeof(AE_ROI));
}
// depth ae roi
if (depth_ae_roi_left_ != -1 && depth_ae_roi_top_ != -1 && depth_ae_roi_right_ != -1 &&
depth_ae_roi_bottom_ != -1 &&
device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting depth AE ROI to "
<< depth_ae_roi_left_ << ", " << depth_ae_roi_top_ << ", "
<< depth_ae_roi_right_ << ", " << depth_ae_roi_bottom_);
AE_ROI roi;
roi.x0_left = depth_ae_roi_left_;
roi.y0_top = depth_ae_roi_top_;
roi.x1_right = depth_ae_roi_right_;
roi.y1_bottom = depth_ae_roi_bottom_;
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI, &roi, sizeof(AE_ROI));
}
if (device_->isPropertySupported(OB_PROP_DEPTH_PRECISION_LEVEL_INT, OB_PERMISSION_READ_WRITE) &&
!depth_precision_str_.empty()) {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
@@ -550,14 +578,14 @@ 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);
}
@@ -566,11 +594,11 @@ 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_;
@@ -653,10 +681,10 @@ void OBCameraNode::setupProfiles() {
throw std::runtime_error("Failed cast profile to VideoStreamProfile");
}
RCLCPP_DEBUG_STREAM(
logger_,
"Sensor profile: " << "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
logger_, "Sensor profile: "
<< "stream_type: " << magic_enum::enum_name(profile->type())
<< "Format: " << profile->format() << ", Width: " << profile->width()
<< ", Height: " << profile->height() << ", FPS: " << profile->fps());
supported_profiles_[elem].emplace_back(profile);
}
std::shared_ptr<ob::VideoStreamProfile> selected_profile;
@@ -1112,6 +1140,14 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
setAndGetNodeParameter<int>(color_ae_roi_left_, "color_ae_roi_left", -1);
setAndGetNodeParameter<int>(color_ae_roi_top_, "color_ae_roi_top", -1);
setAndGetNodeParameter<int>(color_ae_roi_right_, "color_ae_roi_right", -1);
setAndGetNodeParameter<int>(color_ae_roi_bottom_, "color_ae_roi_bottom", -1);
setAndGetNodeParameter<int>(depth_ae_roi_left_, "depth_ae_roi_left", -1);
setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
if (enable_3d_reconstruction_mode_) {
laser_on_off_mode_ = 1; // 0 off, 1 on-off, 1 off-on
}