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Merge branch 'fix/ae-roi-write-only-on-config' into v2-main

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ob-yalian
2026-09-24 21:23:37 +08:00
parent 281f907092 77e88fe2e3
commit 35b92cc122
2 changed files with 40 additions and 24 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
View File
@@ -890,6 +890,8 @@ class OBCameraNode {
int color_ae_roi_top_ = -1; int color_ae_roi_top_ = -1;
int color_ae_roi_right_ = -1; int color_ae_roi_right_ = -1;
int color_ae_roi_bottom_ = -1; int color_ae_roi_bottom_ = -1;
int color_ae_roi_last_width_ = -1;
int color_ae_roi_last_height_ = -1;
int color_exposure_ = -1; int color_exposure_ = -1;
int color_gain_ = -1; int color_gain_ = -1;
int color_mjpeg_quality_ = -1; int color_mjpeg_quality_ = -1;
@@ -919,6 +921,8 @@ class OBCameraNode {
int depth_ae_roi_top_ = -1; int depth_ae_roi_top_ = -1;
int depth_ae_roi_right_ = -1; int depth_ae_roi_right_ = -1;
int depth_ae_roi_bottom_ = -1; int depth_ae_roi_bottom_ = -1;
int depth_ae_roi_last_width_ = -1;
int depth_ae_roi_last_height_ = -1;
int mean_intensity_set_point_ = -1; int mean_intensity_set_point_ = -1;
int depth_brightness_ = -1; int depth_brightness_ = -1;
int depth_exposure_ = -1; int depth_exposure_ = -1;
orbbec_camera/src/ob_camera_node.cpp
+36 -24
View File
@@ -2550,13 +2550,9 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);
device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t *>(&config), device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size); &data_size);
depth_ae_roi_left_ = config.x0_left;
depth_ae_roi_top_ = config.y0_top;
depth_ae_roi_right_ = config.x1_right;
depth_ae_roi_bottom_ = config.y1_bottom;
std::ostringstream fields; std::ostringstream fields;
fields << "left=" << depth_ae_roi_left_ << " top=" << depth_ae_roi_top_ fields << "left=" << config.x0_left << " top=" << config.y0_top
<< " right=" << depth_ae_roi_right_ << " bottom=" << depth_ae_roi_bottom_; << " right=" << config.x1_right << " bottom=" << config.y1_bottom;
log_readback_fields("depth.ae_roi", fields.str()); log_readback_fields("depth.ae_roi", fields.str());
} catch (const std::exception &) { } catch (const std::exception &) {
} }
@@ -2751,13 +2747,9 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);
device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t *>(&config), device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size); &data_size);
color_ae_roi_left_ = config.x0_left;
color_ae_roi_top_ = config.y0_top;
color_ae_roi_right_ = config.x1_right;
color_ae_roi_bottom_ = config.y1_bottom;
std::ostringstream fields; std::ostringstream fields;
fields << "left=" << color_ae_roi_left_ << " top=" << color_ae_roi_top_ fields << "left=" << config.x0_left << " top=" << config.y0_top
<< " right=" << color_ae_roi_right_ << " bottom=" << color_ae_roi_bottom_; << " right=" << config.x1_right << " bottom=" << config.y1_bottom;
log_readback_fields("color.ae_roi", fields.str()); log_readback_fields("color.ae_roi", fields.str());
} catch (const std::exception &) { } catch (const std::exception &) {
} }
@@ -6601,20 +6593,29 @@ void OBCameraNode::setDisparitySearchOffset() {
} }
void OBCameraNode::setDepthAutoExposureROI() { void OBCameraNode::setDepthAutoExposureROI() {
static bool depth_roi_has_run = false; if (depth_ae_roi_last_width_ == width_[DEPTH] && depth_ae_roi_last_height_ == height_[DEPTH]) {
if (depth_roi_has_run) { return;
}
if (depth_ae_roi_left_ == -1 && depth_ae_roi_top_ == -1 && depth_ae_roi_right_ == -1 &&
depth_ae_roi_bottom_ == -1) {
RCLCPP_DEBUG(logger_, "Depth AE ROI is not configured; preserving device-managed ROI");
depth_ae_roi_last_width_ = width_[DEPTH];
depth_ae_roi_last_height_ = height_[DEPTH];
return; return;
} }
if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "color") { if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "color") {
RCLCPP_WARN_STREAM(logger_, "Skip setting depth AE ROI because AE Reference Stream is color"); RCLCPP_WARN_STREAM(logger_, "Skip setting depth AE ROI because AE Reference Stream is color");
depth_roi_has_run = true; depth_ae_roi_last_width_ = width_[DEPTH];
depth_ae_roi_last_height_ = height_[DEPTH];
return; return;
} }
if (device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest(); auto config = OBRegionOfInterest();
config.x0_left = 0;
config.y0_top = 0;
config.x1_right = static_cast<int16_t>(width_[DEPTH] - 1);
config.y1_bottom = static_cast<int16_t>(height_[DEPTH] - 1);
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);
device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
if (depth_ae_roi_left_ != -1) { if (depth_ae_roi_left_ != -1) {
config.x0_left = (depth_ae_roi_left_ < 0) ? 0 : depth_ae_roi_left_; config.x0_left = (depth_ae_roi_left_ < 0) ? 0 : depth_ae_roi_left_;
config.x0_left = config.x0_left =
@@ -6642,24 +6643,34 @@ void OBCameraNode::setDepthAutoExposureROI() {
<< ", " << config.y0_top << ", " << ", " << config.y0_top << ", "
<< config.y1_bottom); << config.y1_bottom);
} }
depth_roi_has_run = true; depth_ae_roi_last_width_ = width_[DEPTH];
depth_ae_roi_last_height_ = height_[DEPTH];
} }
void OBCameraNode::setColorAutoExposureROI() { void OBCameraNode::setColorAutoExposureROI() {
static bool color_roi_has_run = false; if (color_ae_roi_last_width_ == width_[COLOR] && color_ae_roi_last_height_ == height_[COLOR]) {
if (color_roi_has_run) { return;
}
if (color_ae_roi_left_ == -1 && color_ae_roi_top_ == -1 && color_ae_roi_right_ == -1 &&
color_ae_roi_bottom_ == -1) {
RCLCPP_DEBUG(logger_, "Color AE ROI is not configured; preserving device-managed ROI");
color_ae_roi_last_width_ = width_[COLOR];
color_ae_roi_last_height_ = height_[COLOR];
return; return;
} }
if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "depth") { if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "depth") {
RCLCPP_WARN_STREAM(logger_, "Skip setting color AE ROI because AE Reference Stream is depth"); RCLCPP_WARN_STREAM(logger_, "Skip setting color AE ROI because AE Reference Stream is depth");
color_roi_has_run = true; color_ae_roi_last_width_ = width_[COLOR];
color_ae_roi_last_height_ = height_[COLOR];
return; return;
} }
if (device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest(); auto config = OBRegionOfInterest();
config.x0_left = 0;
config.y0_top = 0;
config.x1_right = static_cast<int16_t>(width_[COLOR] - 1);
config.y1_bottom = static_cast<int16_t>(height_[COLOR] - 1);
uint32_t data_size = sizeof(config); uint32_t data_size = sizeof(config);
device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
if (color_ae_roi_left_ != -1) { if (color_ae_roi_left_ != -1) {
config.x0_left = (color_ae_roi_left_ < 0) ? 0 : color_ae_roi_left_; config.x0_left = (color_ae_roi_left_ < 0) ? 0 : color_ae_roi_left_;
config.x0_left = config.x0_left =
@@ -6687,7 +6698,8 @@ void OBCameraNode::setColorAutoExposureROI() {
<< ", " << config.y0_top << ", " << ", " << config.y0_top << ", "
<< config.y1_bottom); << config.y1_bottom);
} }
color_roi_has_run = true; color_ae_roi_last_width_ = width_[COLOR];
color_ae_roi_last_height_ = height_[COLOR];
} }
uint64_t OBCameraNode::getFrameTimestampUs(const std::shared_ptr<ob::Frame> &frame) { uint64_t OBCameraNode::getFrameTimestampUs(const std::shared_ptr<ob::Frame> &frame) {