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[interleave_ae]Added parameter settings for interleave frames 0 and 1

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This commit is contained in:
jj
2024-12-06 10:26:06 +08:00
parent ea0a59394d
commit 78a69bab64
3 changed files with 122 additions and 22 deletions
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orbbec_camera/src/ob_camera_node.cpp
+75 -21
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@@ -784,38 +784,37 @@ void OBCameraNode::updateImageConfig(const stream_index_pair &stream_index) {
}
int OBCameraNode::init_interleave_hdr_param() {
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 1);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, 1);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 1);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 20);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 2000);
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_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 interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, 1);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 7500);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 10000);
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_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_);
return 0;
}
int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 1);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, 0);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
// device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
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_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 interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, 1);
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000);
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_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_);
return 0;
}
void OBCameraNode::startStreams() {
@@ -1286,6 +1285,61 @@ void OBCameraNode::getParameters() {
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);
// 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", 20);
setAndGetNodeParameter<int>(hdr_index1_ir_ae_max_exposure_, "hdr_index1_ir_ae_max_exposure",
2000);
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", 60);
setAndGetNodeParameter<int>(hdr_index0_ir_ae_max_exposure_, "hdr_index0_ir_ae_max_exposure",
10000);
RCLCPP_INFO_STREAM(logger_, "hdr_index1_laser_control_ "
<< hdr_index1_laser_control_ << " hdr_index1_depth_exposure_ "
<< hdr_index1_depth_exposure_ << " hdr_index1_depth_gain_ "
<< hdr_index1_depth_gain_ << " hdr_index1_ir_brightness_ "
<< hdr_index1_ir_brightness_ << " hdr_index1_ir_ae_max_exposure_ "
<< hdr_index1_ir_ae_max_exposure_ << "\n");
RCLCPP_INFO_STREAM(logger_, "hdr_index0_laser_control_ "
<< hdr_index0_laser_control_ << " hdr_index0_depth_exposure_ "
<< hdr_index0_depth_exposure_ << " hdr_index0_depth_gain_ "
<< hdr_index0_depth_gain_ << " hdr_index0_ir_brightness_ "
<< hdr_index0_ir_brightness_ << " hdr_index0_ir_ae_max_exposure_ "
<< hdr_index0_ir_ae_max_exposure_ << "\n");
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_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);
setAndGetNodeParameter<int>(laser_index0_ir_ae_max_exposure_, "laser_index0_ir_ae_max_exposure",
17000);
RCLCPP_INFO_STREAM(logger_, "laser_index1_laser_control_ "
<< laser_index1_laser_control_ << " laser_index1_depth_exposure_ "
<< laser_index1_depth_exposure_ << " laser_index1_depth_gain_ "
<< laser_index1_depth_gain_ << " laser_index1_ir_brightness_ "
<< laser_index1_ir_brightness_
<< " laser_index1_ir_ae_max_exposure_ "
<< laser_index1_ir_ae_max_exposure_ << "\n");
RCLCPP_INFO_STREAM(logger_, "laser_index0_laser_control_ "
<< laser_index0_laser_control_ << " laser_index0_depth_exposure_ "
<< laser_index0_depth_exposure_ << " laser_index0_depth_gain_ "
<< laser_index0_depth_gain_ << " laser_index0_ir_brightness_ "
<< laser_index0_ir_brightness_
<< " laser_index0_ir_ae_max_exposure_ "
<< laser_index0_ir_ae_max_exposure_ << "\n");
}
void OBCameraNode::setupTopics() {