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feat: enhance AE/AWB lock test with color-frame metadata handling

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ob-yalian
2026-07-29 17:00:10 +08:00
parent 84c1d4178d
commit ce5c96e901
3 changed files with 67 additions and 10 deletions
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orbbec_camera/examples/README.MD
+1 -2
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@@ -8,7 +8,6 @@ These simple examples demonstrate how to easily use the camera with OrbbecSDK_RO
| :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- |
| [Net_camera](./net_camera) | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le) | ⭐️ | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) |
| [Gmsl_camera](./gmsl_camera) | How to use GMSL camera.(Only Gemini 335Lg) | ⭐️ | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
| [AE/AWB lock test](./ae_awb_lock) | How to verify the AE/AWB convergence, capture, and manual lock-in flow through ROS 2 services. | ⭐️⭐️ | [README](./ae_awb_lock/README.md) |
| [AE/AWB lock test](./ae_awb_lock) | How to verify the AE/AWB convergence, frame-metadata capture, and manual lock-in flow through ROS 2. | ⭐️⭐️ | [README](./ae_awb_lock/README.md) |
| [Benchmark](./benchmark) | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. | ⭐️⭐️ | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) |
| [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization. | ⭐️⭐️⭐️ | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
orbbec_camera/examples/ae_awb_lock/README.md
+10 -4
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@@ -1,7 +1,7 @@
# AE/AWB Lock Test
This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual
lock-in flow through the camera driver's services.
lock-in flow through the camera driver's services and color-frame metadata.
Run the camera driver and this sample in the same namespace:
@@ -19,9 +19,11 @@ ros2 action send_goal \
--feedback
```
The sample enables auto exposure and auto white balance, waits until the SDK status equals `1`,
captures the current exposure, color gain, AWB gains, and color temperature, disables the auto
controls, and writes the captured values back in this order:
The sample subscribes to the relative `color/metadata` topic. It enables auto exposure and auto
white balance, waits until the SDK status equals `1`, captures exposure, color gain, and color
temperature from the latest color-frame metadata, and reads AWB R/B/G gains through the structured
property service. It then disables the auto controls and writes the captured values back in this
order:
1. Color exposure
2. Color gain
@@ -35,3 +37,7 @@ the sample restores auto exposure and auto white balance.
Every feedback phase contains a fresh status value read from the camera service. The
`waiting_for_services` feedback is published after all required services become available, because
the status cannot be read before its service is ready.
The color stream must be enabled, and `/camera/color/metadata` must be available when using the
`/camera` namespace. The action fails instead of writing default values if no metadata arrives
within two seconds or if `exposure`, `gain`, or `white_balance` is missing.
orbbec_camera/examples/ae_awb_lock/ae_awb_lock_test_node.cpp
+56 -4
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@@ -7,16 +7,19 @@
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <cstdint>
#include <functional>
#include <future>
#include <memory>
#include <mutex>
#include <nlohmann/json.hpp>
#include <stdexcept>
#include <string>
#include <thread>
#include "orbbec_camera_msgs/action/run_ae_awb_lock_test.hpp"
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include "orbbec_camera_msgs/srv/get_awb_gain.hpp"
#include "orbbec_camera_msgs/srv/get_int32.hpp"
#include "orbbec_camera_msgs/srv/set_awb_gain.hpp"
@@ -31,6 +34,7 @@ constexpr uint32_t kDefaultTimeoutMs = 10000;
constexpr auto kPollInterval = 100ms;
constexpr auto kServiceWaitTimeout = 1s;
constexpr auto kServiceCallTimeout = 2s;
constexpr auto kMetadataWaitTimeout = 2s;
class CanceledError : public std::runtime_error {
public:
@@ -46,8 +50,13 @@ class AeAwbLockTestNode : public rclcpp::Node {
using GetAwbGain = orbbec_camera_msgs::srv::GetAwbGain;
using SetAwbGain = orbbec_camera_msgs::srv::SetAwbGain;
using SetBool = std_srvs::srv::SetBool;
using Metadata = orbbec_camera_msgs::msg::Metadata;
AeAwbLockTestNode() : Node("ae_awb_lock_test_node") {
color_metadata_subscription_ = create_subscription<Metadata>(
"color/metadata", rclcpp::SensorDataQoS(),
std::bind(&AeAwbLockTestNode::colorMetadataCallback, this, std::placeholders::_1));
get_status_client_ = create_client<GetInt32>("get_color_ae_awb_status");
get_awb_gain_client_ = create_client<GetAwbGain>("get_color_awb_gain");
set_awb_gain_client_ = create_client<SetAwbGain>("set_color_awb_gain");
@@ -70,6 +79,7 @@ class AeAwbLockTestNode : public rclcpp::Node {
~AeAwbLockTestNode() override {
shutting_down_.store(true);
metadata_cv_.notify_all();
std::lock_guard<std::mutex> lock(worker_mutex_);
if (worker_.joinable()) {
worker_.join();
@@ -77,6 +87,12 @@ class AeAwbLockTestNode : public rclcpp::Node {
}
private:
struct ColorFrameMetadata {
int32_t exposure;
int32_t gain;
int32_t white_balance;
};
struct ActiveGoalGuard {
explicit ActiveGoalGuard(std::atomic_bool& active) : active_(active) {}
~ActiveGoalGuard() { active_.store(false); }
@@ -152,6 +168,38 @@ class AeAwbLockTestNode : public rclcpp::Node {
int32_t getAeAwbStatus() { return getIntValue(get_status_client_, "get_color_ae_awb_status"); }
void colorMetadataCallback(const Metadata::ConstSharedPtr& metadata) {
{
std::lock_guard<std::mutex> lock(metadata_mutex_);
latest_color_metadata_ = metadata;
}
metadata_cv_.notify_all();
}
ColorFrameMetadata getLatestColorMetadata() {
Metadata::ConstSharedPtr metadata;
{
std::unique_lock<std::mutex> lock(metadata_mutex_);
if (!metadata_cv_.wait_for(lock, kMetadataWaitTimeout, [this] {
return latest_color_metadata_ != nullptr || shutting_down_.load();
})) {
throw std::runtime_error("timed out waiting for color frame metadata");
}
if (shutting_down_.load()) {
throw CanceledError();
}
metadata = latest_color_metadata_;
}
try {
const auto json = nlohmann::json::parse(metadata->json_data);
return {json.at("exposure").get<int32_t>(), json.at("gain").get<int32_t>(),
json.at("white_balance").get<int32_t>()};
} catch (const nlohmann::json::exception& e) {
throw std::runtime_error(std::string("invalid color frame metadata: ") + e.what());
}
}
void setIntValue(const rclcpp::Client<SetInt32>::SharedPtr& client,
const std::string& service_name, int32_t value) {
auto request = std::make_shared<SetInt32::Request>();
@@ -252,14 +300,14 @@ class AeAwbLockTestNode : public rclcpp::Node {
throwIfCanceled(goal_handle);
publishFeedback(goal_handle, "capturing_parameters", getAeAwbStatus());
result->captured_exposure = getIntValue(get_exposure_client_, "get_color_exposure");
result->captured_color_gain = getIntValue(get_color_gain_client_, "get_color_gain");
const auto captured_metadata = getLatestColorMetadata();
result->captured_exposure = captured_metadata.exposure;
result->captured_color_gain = captured_metadata.gain;
result->captured_color_temperature = captured_metadata.white_balance;
auto captured_awb_gain = getAwbGain();
result->captured_awb_r_gain = captured_awb_gain->r_gain;
result->captured_awb_b_gain = captured_awb_gain->b_gain;
result->captured_awb_g_gain = captured_awb_gain->g_gain;
result->captured_color_temperature =
getIntValue(get_white_balance_client_, "get_white_balance");
throwIfCanceled(goal_handle);
publishFeedback(goal_handle, "disabling_auto", getAeAwbStatus());
@@ -329,6 +377,7 @@ class AeAwbLockTestNode : public rclcpp::Node {
}
rclcpp_action::Server<RunAeAwbLockTest>::SharedPtr action_server_;
rclcpp::Subscription<Metadata>::SharedPtr color_metadata_subscription_;
rclcpp::Client<GetInt32>::SharedPtr get_status_client_;
rclcpp::Client<GetAwbGain>::SharedPtr get_awb_gain_client_;
@@ -344,6 +393,9 @@ class AeAwbLockTestNode : public rclcpp::Node {
std::atomic_bool goal_active_{false};
std::atomic_bool shutting_down_{false};
Metadata::ConstSharedPtr latest_color_metadata_;
std::mutex metadata_mutex_;
std::condition_variable metadata_cv_;
std::mutex worker_mutex_;
std::thread worker_;
};