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[interleave-larse][modify]:modify interleave larse param

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This commit is contained in:
daiwei
2024-11-12 17:49:29 +08:00
parent 39d078cd72
commit e01cc95496
5 changed files with 52 additions and 25 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -1
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@@ -609,6 +609,8 @@ class OBCameraNode {
// interleave AE // interleave AE
std::string interleave_ae_mode_ = "hdr"; // hdr or laser std::string interleave_ae_mode_ = "hdr"; // hdr or laser
bool enable_depth_interleave_frame_ = false; bool interleave_frame_enable_ = false;
bool interleave_skip_enable_ = false;
int interleave_skip_index_ = 1;
}; };
} // namespace orbbec_camera } // namespace orbbec_camera
orbbec_camera/launch/gemini_330_series_interleave_laser_g335Lg.launch.py → orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py
+3 -1
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@@ -182,7 +182,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_hardware_reset', default_value='false'), DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('enable_depth_interleave_frame', default_value='false'), DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir 1:flood ir
] ]
def get_params(context, args): def get_params(context, args):
orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+3 -1
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@@ -182,7 +182,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_hardware_reset', default_value='false'), DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('enable_depth_interleave_frame', default_value='true'), DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir 1:flood ir
] ]
def get_params(context, args): def get_params(context, args):
orbbec_camera/launch/multi_camera_interleave_larse_test.launch.py
+3 -3
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@@ -12,13 +12,13 @@ def generate_launch_description():
launch_file_dir = os.path.join(package_dir, 'launch') launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription( launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series_interleave_laser_g335Lg.launch.py') os.path.join(launch_file_dir, 'gemini_330_series_interleave_laser_g335.launch.py')
), ),
launch_arguments={ launch_arguments={
'camera_name': 'camera_01', 'camera_name': 'camera_01',
'usb_port': '2-1-2', 'usb_port': '2-1-2',
'device_num': '2', 'device_num': '2',
'sync_mode': 'primary' 'sync_mode': 'PRIMARY'
}.items() }.items()
) )
@@ -30,7 +30,7 @@ def generate_launch_description():
'camera_name': 'camera_02', 'camera_name': 'camera_02',
'usb_port': '2-2-3', 'usb_port': '2-2-3',
'device_num': '2', 'device_num': '2',
'sync_mode': 'hardware_triggering' 'sync_mode': 'SECONDARY_SYNCED'
}.items() }.items()
) )
orbbec_camera/src/ob_camera_node.cpp
+40 -19
View File
@@ -545,14 +545,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) { } else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>(); auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams(); OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_; params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_; params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) { if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params); noise_removal_filter->setFilterParams(params);
} }
@@ -561,11 +561,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) { hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>(); auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true); hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_ << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_ << ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_ << ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_); << ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig(); auto config = OBHdrConfig();
config.enable = true; config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_; config.exposure_1 = hdr_merge_exposure_1_;
@@ -814,7 +814,8 @@ int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000); device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16); device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60); 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, 30000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
return 0; return 0;
} }
@@ -864,11 +865,18 @@ void OBCameraNode::startStreams() {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_); RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to " RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (enable_depth_interleave_frame_ ? "true" : "false")); << (interleave_frame_enable_ ? "true" : "false"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
enable_depth_interleave_frame_); interleave_frame_enable_);
} }
} }
// set interleave larse PATTERN_SYNC_DELAY
if ((interleave_ae_mode_ == "laser") &&
device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT,
OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT 0 ");
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT, 0);
}
if (enable_frame_sync_) { if (enable_frame_sync_) {
RCLCPP_INFO_STREAM(logger_, "Enable frame sync"); RCLCPP_INFO_STREAM(logger_, "Enable frame sync");
@@ -958,11 +966,11 @@ void OBCameraNode::stopStreams() {
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) { if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_); RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
enable_depth_interleave_frame_ = false; interleave_frame_enable_ = false;
RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to " RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (enable_depth_interleave_frame_ ? "true" : "false")); << (interleave_frame_enable_ ? "true" : "false"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
enable_depth_interleave_frame_); interleave_frame_enable_);
} }
} }
@@ -1276,8 +1284,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000); setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000);
setAndGetNodeParameter<bool>(enable_gmsl_trigger_, "enable_gmsl_trigger", false); 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", "hdr");
setAndGetNodeParameter<bool>(enable_depth_interleave_frame_, "enable_depth_interleave_frame", setAndGetNodeParameter<bool>(interleave_frame_enable_, "interleave_frame_enable", false);
false); setAndGetNodeParameter<bool>(interleave_skip_enable_, "interleave_skip_enable", false);
setAndGetNodeParameter<int>(interleave_skip_index_, "interleave_skip_index", 1);
} }
void OBCameraNode::setupTopics() { void OBCameraNode::setupTopics() {
@@ -2042,6 +2051,18 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT || } else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT ||
frame->getType() == OB_FRAME_IR_RIGHT) { frame->getType() == OB_FRAME_IR_RIGHT) {
video_frame = frame->as<ob::IRFrame>(); video_frame = frame->as<ob::IRFrame>();
// interleave filter speckle or flood ir
if (interleave_skip_enable_) {
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
interleave_skip_index_);
if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) ==
interleave_skip_index_) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
}
} else { } else {
RCLCPP_ERROR(logger_, "Unsupported frame type: %d", frame->getType()); RCLCPP_ERROR(logger_, "Unsupported frame type: %d", frame->getType());
return; return;