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feat: default SDK tuning params to unset

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This commit is contained in:
ob-yalian
2026-05-27 10:27:49 +08:00
parent 139add9f02
commit 532438d5a7
2 changed files with 92 additions and 82 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+26 -26
View File
@@ -766,7 +766,7 @@ class OBCameraNode {
int left_ir_sequence_id_filter_id_ = -1;
bool enable_frame_sync_ = false;
// Only for Gemini2 device
std::string disparity_to_depth_mode_ = "HW";
std::string disparity_to_depth_mode_;
std::string depth_work_mode_;
std::string preset_resolution_config_;
OBMultiDeviceSyncMode sync_mode_ = OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
@@ -854,8 +854,8 @@ class OBCameraNode {
int threshold_filter_max_ = -1;
int threshold_filter_min_ = -1;
float hardware_noise_removal_filter_threshold_ = -1.0;
int noise_removal_filter_min_diff_ = 256;
int noise_removal_filter_max_size_ = 80;
int noise_removal_filter_min_diff_ = -1;
int noise_removal_filter_max_size_ = -1;
float spatial_filter_alpha_ = -1;
int spatial_filter_diff_threshold_ = -1;
int spatial_filter_magnitude_ = -1;
@@ -907,7 +907,7 @@ class OBCameraNode {
bool enable_frame_timestamp_csv_ = false;
std::string frame_timestamp_csv_file_;
std::unique_ptr<FrameTimestampCsvLogger> frame_timestamp_csv_logger_;
std::string exposure_range_mode_ = "default";
std::string exposure_range_mode_;
std::string load_config_json_file_path_ = "";
std::string export_config_json_file_path_ = "";
// soft ware trigger
@@ -935,33 +935,33 @@ class OBCameraNode {
std::vector<std::shared_ptr<ob::Filter>> right_ir_filter_list_;
// interleave AE
std::string interleave_ae_mode_ = "hdr"; // hdr or laser
std::string interleave_ae_mode_; // hdr or laser
bool interleave_frame_enable_ = false;
bool interleave_skip_enable_ = false;
int interleave_skip_index_ = 1;
int interleave_skip_index_ = -1;
// hdr and laser interleave params
int hdr_index1_laser_control_ = 1;
int hdr_index1_depth_exposure_ = 1;
int hdr_index1_depth_gain_ = 16;
int hdr_index1_ir_brightness_ = 30;
int hdr_index1_ir_ae_max_exposure_ = 30458;
int hdr_index0_laser_control_ = 1;
int hdr_index0_depth_exposure_ = 7500;
int hdr_index0_depth_gain_ = 16;
int hdr_index0_ir_brightness_ = 90;
int hdr_index0_ir_ae_max_exposure_ = 30458;
int hdr_index1_laser_control_ = -1;
int hdr_index1_depth_exposure_ = -1;
int hdr_index1_depth_gain_ = -1;
int hdr_index1_ir_brightness_ = -1;
int hdr_index1_ir_ae_max_exposure_ = -1;
int hdr_index0_laser_control_ = -1;
int hdr_index0_depth_exposure_ = -1;
int hdr_index0_depth_gain_ = -1;
int hdr_index0_ir_brightness_ = -1;
int hdr_index0_ir_ae_max_exposure_ = -1;
int laser_index1_laser_control_ = 0;
int laser_index1_depth_exposure_ = 3000;
int laser_index1_depth_gain_ = 16;
int laser_index1_ir_brightness_ = 60;
int laser_index1_ir_ae_max_exposure_ = 7000;
int laser_index0_laser_control_ = 1;
int laser_index0_depth_exposure_ = 3000;
int laser_index0_depth_gain_ = 16;
int laser_index0_ir_brightness_ = 60;
int laser_index0_ir_ae_max_exposure_ = 17000;
int laser_index1_laser_control_ = -1;
int laser_index1_depth_exposure_ = -1;
int laser_index1_depth_gain_ = -1;
int laser_index1_ir_brightness_ = -1;
int laser_index1_ir_ae_max_exposure_ = -1;
int laser_index0_laser_control_ = -1;
int laser_index0_depth_exposure_ = -1;
int laser_index0_depth_gain_ = -1;
int laser_index0_ir_brightness_ = -1;
int laser_index0_ir_ae_max_exposure_ = -1;
int disparity_range_mode_ = -1;
int disparity_search_offset_ = -1;
orbbec_camera/src/ob_camera_node.cpp
+66 -56
View File
@@ -1514,7 +1514,7 @@ void OBCameraNode::setupDevices() {
}
}
}
if (exposure_range_mode_ != "default" &&
if (!exposure_range_mode_.empty() && exposure_range_mode_ != "default" &&
device_->isPropertySupported(OB_PROP_DEVICE_PERFORMANCE_MODE_INT, OB_PERMISSION_WRITE)) {
if (exposure_range_mode_ == "ultimate") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_PERFORMANCE_MODE_INT, 1);
@@ -2868,46 +2868,58 @@ void OBCameraNode::updateImageConfig(const stream_index_pair &stream_index) {
}
}
int OBCameraNode::init_interleave_hdr_param() {
auto set_int_if_provided = [this](OBPropertyID property_id, int value) {
if (value != -1) {
device_->setIntProperty(property_id, value);
}
};
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 1);
if (!isnotLaserDevices(pid_)) {
if (!isnotLaserDevices(pid_) && hdr_index1_laser_control_ != -1) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, hdr_index1_laser_control_);
}
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, hdr_index1_depth_exposure_);
device_->setIntProperty(OB_PROP_IR_EXPOSURE_INT, hdr_index1_depth_exposure_);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, hdr_index1_depth_gain_);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, hdr_index1_ir_brightness_);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, hdr_index1_ir_ae_max_exposure_);
set_int_if_provided(OB_PROP_DEPTH_EXPOSURE_INT, hdr_index1_depth_exposure_);
set_int_if_provided(OB_PROP_IR_EXPOSURE_INT, hdr_index1_depth_exposure_);
set_int_if_provided(OB_PROP_DEPTH_GAIN_INT, hdr_index1_depth_gain_);
set_int_if_provided(OB_PROP_IR_BRIGHTNESS_INT, hdr_index1_ir_brightness_);
set_int_if_provided(OB_PROP_IR_AE_MAX_EXPOSURE_INT, hdr_index1_ir_ae_max_exposure_);
// set interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
if (!isnotLaserDevices(pid_)) {
if (!isnotLaserDevices(pid_) && hdr_index0_laser_control_ != -1) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, hdr_index0_laser_control_);
}
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, hdr_index0_depth_exposure_);
device_->setIntProperty(OB_PROP_IR_EXPOSURE_INT, hdr_index0_depth_exposure_);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, hdr_index0_depth_gain_);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, hdr_index0_ir_brightness_);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, hdr_index0_ir_ae_max_exposure_);
set_int_if_provided(OB_PROP_DEPTH_EXPOSURE_INT, hdr_index0_depth_exposure_);
set_int_if_provided(OB_PROP_IR_EXPOSURE_INT, hdr_index0_depth_exposure_);
set_int_if_provided(OB_PROP_DEPTH_GAIN_INT, hdr_index0_depth_gain_);
set_int_if_provided(OB_PROP_IR_BRIGHTNESS_INT, hdr_index0_ir_brightness_);
set_int_if_provided(OB_PROP_IR_AE_MAX_EXPOSURE_INT, hdr_index0_ir_ae_max_exposure_);
return 0;
}
int OBCameraNode::init_interleave_laser_param() {
auto set_int_if_provided = [this](OBPropertyID property_id, int value) {
if (value != -1) {
device_->setIntProperty(property_id, value);
}
};
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 1);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_index1_laser_control_);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, laser_index1_depth_exposure_);
device_->setIntProperty(OB_PROP_IR_EXPOSURE_INT, laser_index1_depth_exposure_);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, laser_index1_depth_gain_);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, laser_index1_ir_brightness_);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, laser_index1_ir_ae_max_exposure_);
set_int_if_provided(OB_PROP_LASER_CONTROL_INT, laser_index1_laser_control_);
set_int_if_provided(OB_PROP_DEPTH_EXPOSURE_INT, laser_index1_depth_exposure_);
set_int_if_provided(OB_PROP_IR_EXPOSURE_INT, laser_index1_depth_exposure_);
set_int_if_provided(OB_PROP_DEPTH_GAIN_INT, laser_index1_depth_gain_);
set_int_if_provided(OB_PROP_IR_BRIGHTNESS_INT, laser_index1_ir_brightness_);
set_int_if_provided(OB_PROP_IR_AE_MAX_EXPOSURE_INT, laser_index1_ir_ae_max_exposure_);
// set interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_index0_laser_control_);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, laser_index0_depth_exposure_);
device_->setIntProperty(OB_PROP_IR_EXPOSURE_INT, laser_index0_depth_exposure_);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, laser_index0_depth_gain_);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, laser_index0_ir_brightness_);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, laser_index0_ir_ae_max_exposure_);
set_int_if_provided(OB_PROP_LASER_CONTROL_INT, laser_index0_laser_control_);
set_int_if_provided(OB_PROP_DEPTH_EXPOSURE_INT, laser_index0_depth_exposure_);
set_int_if_provided(OB_PROP_IR_EXPOSURE_INT, laser_index0_depth_exposure_);
set_int_if_provided(OB_PROP_DEPTH_GAIN_INT, laser_index0_depth_gain_);
set_int_if_provided(OB_PROP_IR_BRIGHTNESS_INT, laser_index0_ir_brightness_);
set_int_if_provided(OB_PROP_IR_AE_MAX_EXPOSURE_INT, laser_index0_ir_ae_max_exposure_);
return 0;
}
void OBCameraNode::startStreams() {
@@ -3341,7 +3353,7 @@ void OBCameraNode::getParameters() {
"point_cloud_decimation_filter_factor", 1);
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "HW");
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "");
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
if (!depth_filter_config_.empty()) {
enable_depth_filter_ = true;
@@ -3372,7 +3384,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(color_anti_flicker_, "color_anti_flicker", false);
setAndGetNodeParameter<int>(color_denoising_level_, "color_denoising_level", -1);
setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", "");
setAndGetNodeParameter<std::string>(color_preset_, "color_preset", "Default");
setAndGetNodeParameter<std::string>(color_preset_, "color_preset", "");
setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
false);
setAndGetNodeParameter<int>(color_decimation_filter_scale_, "color_decimation_filter_scale", -1);
@@ -3466,8 +3478,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(threshold_filter_min_, "threshold_filter_min", -1);
setAndGetNodeParameter<float>(hardware_noise_removal_filter_threshold_,
"hardware_noise_removal_filter_threshold", -1.0);
setAndGetNodeParameter<int>(noise_removal_filter_min_diff_, "noise_removal_filter_min_diff", 256);
setAndGetNodeParameter<int>(noise_removal_filter_max_size_, "noise_removal_filter_max_size", 80);
setAndGetNodeParameter<int>(noise_removal_filter_min_diff_, "noise_removal_filter_min_diff", -1);
setAndGetNodeParameter<int>(noise_removal_filter_max_size_, "noise_removal_filter_max_size", -1);
setAndGetNodeParameter<float>(spatial_filter_alpha_, "spatial_filter_alpha", -1.0);
setAndGetNodeParameter<int>(spatial_filter_diff_threshold_, "spatial_filter_diff_threshold", -1);
setAndGetNodeParameter<int>(spatial_filter_magnitude_, "spatial_filter_magnitude", -1);
@@ -3499,7 +3511,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
setAndGetNodeParameter<bool>(enable_frame_timestamp_csv_, "enable_frame_timestamp_csv", false);
setAndGetNodeParameter<std::string>(frame_timestamp_csv_file_, "frame_timestamp_csv_file", "");
setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "default");
setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "");
setAndGetNodeParameter<std::string>(load_config_json_file_path_, "load_config_json_file_path",
"");
setAndGetNodeParameter<std::string>(export_config_json_file_path_, "export_config_json_file_path",
@@ -3541,37 +3553,35 @@ void OBCameraNode::getParameters() {
software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);
setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000);
setAndGetNodeParameter<bool>(enable_gmsl_trigger_, "enable_gmsl_trigger", false);
setAndGetNodeParameter<std::string>(interleave_ae_mode_, "interleave_ae_mode", "hdr");
setAndGetNodeParameter<std::string>(interleave_ae_mode_, "interleave_ae_mode", "");
setAndGetNodeParameter<bool>(interleave_frame_enable_, "interleave_frame_enable", false);
setAndGetNodeParameter<bool>(interleave_skip_enable_, "interleave_skip_enable", false);
setAndGetNodeParameter<int>(interleave_skip_index_, "interleave_skip_index", 1);
setAndGetNodeParameter<int>(interleave_skip_index_, "interleave_skip_index", -1);
// hdr and laser interleave params
setAndGetNodeParameter<int>(hdr_index1_laser_control_, "hdr_index1_laser_control", 1);
setAndGetNodeParameter<int>(hdr_index1_depth_exposure_, "hdr_index1_depth_exposure", 1);
setAndGetNodeParameter<int>(hdr_index1_depth_gain_, "hdr_index1_depth_gain", 16);
setAndGetNodeParameter<int>(hdr_index1_ir_brightness_, "hdr_index1_ir_brightness", 30);
setAndGetNodeParameter<int>(hdr_index1_ir_ae_max_exposure_, "hdr_index1_ir_ae_max_exposure",
30458);
setAndGetNodeParameter<int>(hdr_index0_laser_control_, "hdr_index0_laser_control", 1);
setAndGetNodeParameter<int>(hdr_index0_depth_exposure_, "hdr_index0_depth_exposure", 7500);
setAndGetNodeParameter<int>(hdr_index0_depth_gain_, "hdr_index0_depth_gain", 16);
setAndGetNodeParameter<int>(hdr_index0_ir_brightness_, "hdr_index0_ir_brightness", 90);
setAndGetNodeParameter<int>(hdr_index0_ir_ae_max_exposure_, "hdr_index0_ir_ae_max_exposure",
30458);
setAndGetNodeParameter<int>(hdr_index1_laser_control_, "hdr_index1_laser_control", -1);
setAndGetNodeParameter<int>(hdr_index1_depth_exposure_, "hdr_index1_depth_exposure", -1);
setAndGetNodeParameter<int>(hdr_index1_depth_gain_, "hdr_index1_depth_gain", -1);
setAndGetNodeParameter<int>(hdr_index1_ir_brightness_, "hdr_index1_ir_brightness", -1);
setAndGetNodeParameter<int>(hdr_index1_ir_ae_max_exposure_, "hdr_index1_ir_ae_max_exposure", -1);
setAndGetNodeParameter<int>(hdr_index0_laser_control_, "hdr_index0_laser_control", -1);
setAndGetNodeParameter<int>(hdr_index0_depth_exposure_, "hdr_index0_depth_exposure", -1);
setAndGetNodeParameter<int>(hdr_index0_depth_gain_, "hdr_index0_depth_gain", -1);
setAndGetNodeParameter<int>(hdr_index0_ir_brightness_, "hdr_index0_ir_brightness", -1);
setAndGetNodeParameter<int>(hdr_index0_ir_ae_max_exposure_, "hdr_index0_ir_ae_max_exposure", -1);
setAndGetNodeParameter<int>(laser_index1_laser_control_, "laser_index1_laser_control", 0);
setAndGetNodeParameter<int>(laser_index1_depth_exposure_, "laser_index1_depth_exposure", 3000);
setAndGetNodeParameter<int>(laser_index1_depth_gain_, "laser_index1_depth_gain", 16);
setAndGetNodeParameter<int>(laser_index1_ir_brightness_, "laser_index1_ir_brightness", 60);
setAndGetNodeParameter<int>(laser_index1_laser_control_, "laser_index1_laser_control", -1);
setAndGetNodeParameter<int>(laser_index1_depth_exposure_, "laser_index1_depth_exposure", -1);
setAndGetNodeParameter<int>(laser_index1_depth_gain_, "laser_index1_depth_gain", -1);
setAndGetNodeParameter<int>(laser_index1_ir_brightness_, "laser_index1_ir_brightness", -1);
setAndGetNodeParameter<int>(laser_index1_ir_ae_max_exposure_, "laser_index1_ir_ae_max_exposure",
7000);
setAndGetNodeParameter<int>(laser_index0_laser_control_, "laser_index0_laser_control", 1);
setAndGetNodeParameter<int>(laser_index0_depth_exposure_, "laser_index0_depth_exposure", 3000);
setAndGetNodeParameter<int>(laser_index0_depth_gain_, "laser_index0_depth_gain", 16);
setAndGetNodeParameter<int>(laser_index0_ir_brightness_, "laser_index0_ir_brightness", 60);
-1);
setAndGetNodeParameter<int>(laser_index0_laser_control_, "laser_index0_laser_control", -1);
setAndGetNodeParameter<int>(laser_index0_depth_exposure_, "laser_index0_depth_exposure", -1);
setAndGetNodeParameter<int>(laser_index0_depth_gain_, "laser_index0_depth_gain", -1);
setAndGetNodeParameter<int>(laser_index0_ir_brightness_, "laser_index0_ir_brightness", -1);
setAndGetNodeParameter<int>(laser_index0_ir_ae_max_exposure_, "laser_index0_ir_ae_max_exposure",
17000);
-1);
setAndGetNodeParameter<int>(disparity_range_mode_, "disparity_range_mode", -1);
setAndGetNodeParameter<int>(disparity_search_offset_, "disparity_search_offset", -1);
setAndGetNodeParameter<bool>(disparity_offset_config_, "disparity_offset_config", false);
@@ -3584,8 +3594,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_publish_extrinsic_, "enable_publish_extrinsic", false);
setAndGetNodeParameter<std::string>(intra_camera_sync_reference_, "intra_camera_sync_reference",
"Middle");
setAndGetNodeParameter<std::string>(ae_reference_stream_, "ae_reference_stream", "depth");
setAndGetNodeParameter<std::string>(ae_strategy_, "ae_strategy", "motion");
setAndGetNodeParameter<std::string>(ae_reference_stream_, "ae_reference_stream", "");
setAndGetNodeParameter<std::string>(ae_strategy_, "ae_strategy", "");
RCLCPP_INFO_STREAM(logger_, "Current time domain: " << time_domain_);
RCLCPP_DEBUG_STREAM(logger_, "hdr_index1_laser_control_ "