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only set the interleave param when interleave_frame_enable is enabled

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datean
2024-12-05 19:56:43 +08:00
parent ee7f5b866b
commit f1134728f2
5 changed files with 61 additions and 42 deletions
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orbbec_camera/src/ob_camera_node.cpp
+35 -16
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@@ -218,9 +218,13 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
}
if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
}
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
@@ -407,6 +411,8 @@ void OBCameraNode::setupDevices() {
device_->isPropertySupported(OB_PROP_IR_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_IR_EXPOSURE_INT);
RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
if (ir_exposure_ < range.min || ir_exposure_ > range.max) {
RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
@@ -418,6 +424,8 @@ void OBCameraNode::setupDevices() {
if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_IR_GAIN_INT);
RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value", range.min,
range.max);
if (ir_gain_ < range.min || ir_gain_ > range.max) {
RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value",
range.min, range.max);
@@ -828,22 +836,33 @@ void OBCameraNode::startStreams() {
try {
setupPipelineConfig();
// set interleave mode
if (interleave_ae_mode_ == "hdr") {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to hdr");
device_->loadFrameInterleave("hdr interleave");
init_interleave_hdr_param();
} else if (interleave_ae_mode_ == "laser") {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to laser");
device_->loadFrameInterleave("laser interleave");
init_interleave_laser_param();
} else {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to nothing");
if (interleave_frame_enable_) {
// set interleave mode
if (interleave_ae_mode_ == "hdr") {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to hdr");
device_->loadFrameInterleave("hdr interleave");
init_interleave_hdr_param();
} else if (interleave_ae_mode_ == "laser") {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to laser");
device_->loadFrameInterleave("laser interleave");
init_interleave_laser_param();
} else {
RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to nothing");
}
}
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set);
});
// if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
// RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
// TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
// }
// if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
// RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
// TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
// }
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage());
RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");
@@ -2065,7 +2084,7 @@ void OBCameraNode::updateStreamInfo(const std::shared_ptr<ob::Frame> &frame,
return;
}
if (interleave_skip_enable_) {
if (interleave_frame_enable_ && interleave_skip_enable_) {
dst_fps = fps_[dst_frame_type] / 2;
} else {
dst_fps = fps_[dst_frame_type];
@@ -2130,7 +2149,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
std::shared_ptr<ob::VideoFrame> video_frame;
if (frame->getType() == OB_FRAME_COLOR) {
// updateStreamInfo(frame, color_stream_info_);
if (interleave_skip_enable_) {
if (interleave_frame_enable_ && interleave_skip_enable_) {
interleave_skip_color_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
interleave_skip_color_index_);
@@ -2143,7 +2162,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) {
// updateStreamInfo(frame, depth_stream_info_);
if (interleave_skip_enable_) {
if (interleave_frame_enable_ && interleave_skip_enable_) {
interleave_skip_depth_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
interleave_skip_depth_index_);
@@ -2159,7 +2178,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
video_frame = frame->as<ob::IRFrame>();
// interleave filter speckle or flood ir
if (interleave_skip_enable_) {
if (interleave_frame_enable_ && 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) ==