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Add AE ROI setting param in gemini_330_series.launch.py

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This commit is contained in:
jj
2025-03-24 10:52:03 +08:00
parent 0b39e08d46
commit cbd4331e44
8 changed files with 81 additions and 4 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+14
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@@ -379,6 +379,10 @@ class OBCameraNode {
int init_interleave_hdr_param();
int init_interleave_laser_param();
// Set ROI
void setColorAutoExposureROI();
void setDepthAutoExposureROI();
void setDisparitySearchOffset();
private:
@@ -508,6 +512,11 @@ class OBCameraNode {
bool enable_ir_long_exposure_ = false;
bool enable_ldp_ = true;
int ldp_power_level_ = -1;
// color ae roi
int color_ae_roi_left_ = -1;
int color_ae_roi_top_ = -1;
int color_ae_roi_right_ = -1;
int color_ae_roi_bottom_ = -1;
int color_exposure_ = -1;
int color_gain_ = -1;
int color_white_balance_ = -1;
@@ -521,6 +530,11 @@ class OBCameraNode {
bool enable_color_backlight_compenstation_ = false;
bool enable_color_decimation_filter_ = false;
int color_decimation_filter_scale_ = -1;
// depth ae roi
int depth_ae_roi_left_ = -1;
int depth_ae_roi_top_ = -1;
int depth_ae_roi_right_ = -1;
int depth_ae_roi_bottom_ = -1;
int depth_brightness_ = -1;
int ir_exposure_ = -1;
int ir_gain_ = -1;
orbbec_camera/launch/gemini_330_series.launch.py
+8
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@@ -72,6 +72,10 @@ def generate_launch_description():
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
@@ -94,6 +98,10 @@ def generate_launch_description():
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+54
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@@ -1390,6 +1390,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter<bool>(enable_color_auto_white_balance_, "enable_color_auto_white_balance",
true);
setAndGetNodeParameter<int>(color_ae_roi_left_, "color_ae_roi_left", -1);
setAndGetNodeParameter<int>(color_ae_roi_top_, "color_ae_roi_top", -1);
setAndGetNodeParameter<int>(color_ae_roi_right_, "color_ae_roi_right", -1);
setAndGetNodeParameter<int>(color_ae_roi_bottom_, "color_ae_roi_bottom", -1);
setAndGetNodeParameter<int>(color_exposure_, "color_exposure", -1);
setAndGetNodeParameter<int>(color_gain_, "color_gain", -1);
setAndGetNodeParameter<int>(color_white_balance_, "color_white_balance", -1);
@@ -1407,6 +1411,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_decimation_filter_scale_, "color_decimation_filter_scale", -1);
setAndGetNodeParameter<bool>(enable_depth_auto_exposure_priority_,
"enable_depth_auto_exposure_priority", false);
setAndGetNodeParameter<int>(depth_ae_roi_left_, "depth_ae_roi_left", -1);
setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
setAndGetNodeParameter<int>(depth_brightness_, "depth_brightness", -1);
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
@@ -2122,6 +2130,50 @@ void OBCameraNode::setDisparitySearchOffset() {
has_run = true;
}
void OBCameraNode::setDepthAutoExposureROI() {
static bool depth_roi_has_run = false;
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_);
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_;
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
}
depth_roi_has_run = true;
}
void OBCameraNode::setColorAutoExposureROI() {
static bool color_roi_has_run = false;
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_);
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_;
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
}
color_roi_has_run = true;
}
uint64_t OBCameraNode::getFrameTimestampUs(const std::shared_ptr<ob::Frame> &frame) {
if (frame == nullptr) {
RCLCPP_WARN(logger_, "getFrameTimestampUs: frame is nullptr, return 0");
@@ -2154,10 +2206,12 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (depth_frame) {
setDisparitySearchOffset();
setDepthAutoExposureROI();
depth_frame = processDepthFrameFilter(depth_frame);
frame_set->pushFrame(depth_frame);
}
if (color_frame) {
setColorAutoExposureROI();
color_frame = processColorFrameFilter(color_frame);
frame_set->pushFrame(color_frame);
}