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Update setting color and depth roi parameters area range

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This commit is contained in:
jj
2025-04-23 16:23:48 +08:00
parent 61af53e602
commit b22e1c879f
1 changed files with 58 additions and 20 deletions
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orbbec_camera/src/ob_camera_node.cpp
+58 -20
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@@ -2317,19 +2317,39 @@ void OBCameraNode::setDepthAutoExposureROI() {
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 &&
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_);
if (device_->isPropertySupported(OB_STRUCT_DEPTH_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest();
config.x0_left = depth_ae_roi_left_;
config.y0_top = depth_ae_roi_top_;
config.x1_right = depth_ae_roi_right_;
config.y1_bottom = depth_ae_roi_bottom_;
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) {
config.x0_left = (depth_ae_roi_left_ < 0) ? 0 : depth_ae_roi_left_;
config.x0_left =
(depth_ae_roi_left_ > width_[DEPTH] - 1) ? width_[DEPTH] - 1 : config.x0_left;
}
if (depth_ae_roi_top_ != -1) {
config.y0_top = (depth_ae_roi_top_ < 0) ? 0 : depth_ae_roi_top_;
config.y0_top = (depth_ae_roi_top_ > height_[DEPTH] - 1) ? height_[DEPTH] - 1 : config.y0_top;
}
if (depth_ae_roi_right_ != -1) {
config.x1_right = (depth_ae_roi_right_ < 0) ? 0 : depth_ae_roi_right_;
config.x1_right =
(depth_ae_roi_right_ > width_[DEPTH] - 1) ? width_[DEPTH] - 1 : config.x1_right;
}
if (depth_ae_roi_bottom_ != -1) {
config.y1_bottom = (depth_ae_roi_bottom_ < 0) ? 0 : depth_ae_roi_bottom_;
config.y1_bottom =
(depth_ae_roi_bottom_ > height_[DEPTH] - 1) ? height_[DEPTH] - 1 : config.y1_bottom;
}
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<const uint8_t *>(&config),
sizeof(config));
device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_, "Setting depth AE ROI to "
<< config.x0_left << ", " << config.y0_top << ", "
<< config.x1_right << ", " << config.y1_bottom);
}
depth_roi_has_run = true;
}
@@ -2339,19 +2359,37 @@ void OBCameraNode::setColorAutoExposureROI() {
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 &&
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_);
if (device_->isPropertySupported(OB_STRUCT_COLOR_AE_ROI, OB_PERMISSION_READ_WRITE)) {
auto config = OBRegionOfInterest();
config.x0_left = color_ae_roi_left_;
config.y0_top = color_ae_roi_top_;
config.x1_right = color_ae_roi_right_;
config.y1_bottom = color_ae_roi_bottom_;
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) {
config.x0_left = (color_ae_roi_left_ < 0) ? 0 : color_ae_roi_left_;
config.x0_left =
(color_ae_roi_left_ > width_[COLOR] - 1) ? width_[COLOR] - 1 : config.x0_left;
}
if (color_ae_roi_top_ != -1) {
config.y0_top = (color_ae_roi_top_ < 0) ? 0 : color_ae_roi_top_;
config.y0_top = (color_ae_roi_top_ > height_[COLOR] - 1) ? height_[COLOR] - 1 : config.y0_top;
}
if (color_ae_roi_right_ != -1) {
config.x1_right = (color_ae_roi_right_ < 0) ? 0 : color_ae_roi_right_;
config.x1_right =
(color_ae_roi_right_ > width_[COLOR] - 1) ? width_[COLOR] - 1 : config.x1_right;
}
if (color_ae_roi_bottom_ != -1) {
config.y1_bottom = (color_ae_roi_bottom_ < 0) ? 0 : color_ae_roi_bottom_;
config.y1_bottom =
(color_ae_roi_bottom_ > height_[COLOR] - 1) ? height_[COLOR] - 1 : config.y1_bottom;
}
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<const uint8_t *>(&config),
sizeof(config));
device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_, "Setting color AE ROI to "
<< config.x0_left << ", " << config.y0_top << ", "
<< config.x1_right << ", " << config.y1_bottom);
}
color_roi_has_run = true;
}