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Add exposure_range_mode param in gemini_330_series.launch.py

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This commit is contained in:
jj
2025-04-08 13:44:59 +08:00
parent 66dda6f27e
commit 3cbaeb64e4
3 changed files with 22 additions and 8 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -653,6 +653,7 @@ class OBCameraNode {
int min_depth_limit_ = 0;
int max_depth_limit_ = 0;
std::string time_domain_ = "global"; // device, system, global
std::string exposure_range_mode_ = "default";
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
rclcpp::TimerBase::SharedPtr diagnostic_timer_;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -145,6 +145,7 @@ def generate_launch_description():
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
DeclareLaunchArgument("net_device_ip", default_value=""),
DeclareLaunchArgument("net_device_port", default_value="0"),
DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
orbbec_camera/src/ob_camera_node.cpp
+20 -8
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@@ -564,7 +564,7 @@ void OBCameraNode::setupDevices() {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_min_diff: "
RCLCPP_INFO_STREAM(logger_, "default noise removal filter min diff: "
<< default_noise_removal_filter_min_diff);
if (noise_removal_filter_min_diff_ != -1 &&
default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) {
@@ -579,7 +579,7 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, noise_removal_filter_min_diff_);
auto new_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_min_diff: "
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter min diff: "
<< new_noise_removal_filter_min_diff);
}
}
@@ -588,7 +588,7 @@ void OBCameraNode::setupDevices() {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_max_size: "
RCLCPP_INFO_STREAM(logger_, "default noise removal filter max size: "
<< default_noise_removal_filter_max_size);
if (noise_removal_filter_max_size_ != -1 &&
default_noise_removal_filter_max_size != noise_removal_filter_max_size_) {
@@ -603,14 +603,14 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, noise_removal_filter_max_size_);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_max_size: "
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter max size: "
<< new_noise_removal_filter_max_size);
}
}
}
if (disparity_range_mode_ != -1 &&
device_->isPropertySupported(OB_PROP_DISP_SEARCH_RANGE_MODE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting disparity_range_mode: " << disparity_range_mode_);
RCLCPP_INFO_STREAM(logger_, "Setting disparity range mode: " << disparity_range_mode_);
if (disparity_range_mode_ == 64) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DISP_SEARCH_RANGE_MODE_INT, 0);
} else if (disparity_range_mode_ == 128) {
@@ -618,7 +618,7 @@ void OBCameraNode::setupDevices() {
} else if (disparity_range_mode_ == 256) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DISP_SEARCH_RANGE_MODE_INT, 2);
} else {
RCLCPP_ERROR(logger_, "disparity_range_mode does not support this setting");
RCLCPP_ERROR(logger_, "disparity range mode does not support this setting");
}
}
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
@@ -626,18 +626,29 @@ void OBCameraNode::setupDevices() {
device_->setBoolProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
enable_hardware_noise_removal_filter_);
RCLCPP_INFO_STREAM(
logger_, "Setting hardware_noise_removal_filter:" << enable_hardware_noise_removal_filter_);
logger_, "Setting hardware noise removal filter:" << enable_hardware_noise_removal_filter_);
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (hardware_noise_removal_filter_threshold_ != -1.0 &&
enable_hardware_noise_removal_filter_) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
hardware_noise_removal_filter_threshold_);
RCLCPP_INFO_STREAM(logger_, "Setting hardware_noise_removal_filter_threshold :"
RCLCPP_INFO_STREAM(logger_, "Setting hardware noise removal filter threshold :"
<< hardware_noise_removal_filter_threshold_);
}
}
}
if (exposure_range_mode_ != "default" &&
device_->isPropertySupported(OB_PROP_DEVICE_PERFORMANCE_MODE_INT, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting exposure range mode : " << exposure_range_mode_);
if (exposure_range_mode_ == "ultimate") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_PERFORMANCE_MODE_INT, 1);
} else if (exposure_range_mode_ == "regular") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_PERFORMANCE_MODE_INT, 0);
} else {
RCLCPP_ERROR(logger_, "exposure range mode does not support this setting");
}
}
}
void OBCameraNode::setupColorPostProcessFilter() {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
@@ -1591,6 +1602,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "default");
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();