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Noetic additional camera control #639

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Noetic additional camera control #639

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9a2e043
add additional options to initial camera control
Serafadam Oct 25, 2024
1113887
change to runtime params
Serafadam Oct 30, 2024
d899375
update left right rect publishing
Serafadam Nov 6, 2024
4670095
update param ranges
Serafadam Nov 6, 2024
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26 changes: 25 additions & 1 deletion depthai_ros_driver/cfg/parameters.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,14 @@ camera.add("left_r_set_man_exposure", bool_t, 0, "Enable manual exposure", False
camera.add("left_r_set_man_focus", bool_t, 0, "Enable manual focus", False)
camera.add("left_r_set_man_whitebalance", bool_t, 0, "Enable manual whitebalance", False)
camera.add("left_r_whitebalance", int_t, 0, "Whitebalance", 3300, 1000, 12000)
camera.add("left_r_set_auto_exposure_limit", bool_t, 0, "Enable auto exposure limit", False)
camera.add("left_r_auto_exposure_limit", int_t, 0, "Auto exposure limit", 1000, 1, 33000)
camera.add("left_r_set_sharpness", bool_t, 0, "Enable sharpness", False)
camera.add("left_r_sharpness", int_t, 0, "Sharpness", 0, 0, 4)
camera.add("left_r_set_chroma_denoise", bool_t, 0, "Enable chroma denoise", False)
camera.add("left_r_chroma_denoise", int_t, 0, "Chroma denoise", 0, 0, 4)
camera.add("left_r_set_luma_denoise", bool_t, 0, "Enable luma denoise", False)
camera.add("left_r_luma_denoise", int_t, 0, "Luma denoise", 0, 0, 4)

camera.add("right_r_keep_preview_aspect_ratio", bool_t, 0, "Keep preview aspect ratio", True)
camera.add("right_r_exposure", int_t, 0, "Sensor exposure", 1000, 1, 33000)
Expand All @@ -30,6 +38,14 @@ camera.add("right_r_set_man_exposure", bool_t, 0, "Enable manual exposure", Fals
camera.add("right_r_set_man_focus", bool_t, 0, "Enable manual focus", False)
camera.add("right_r_set_man_whitebalance", bool_t, 0, "Enable manual whitebalance", False)
camera.add("right_r_whitebalance", int_t, 0, "Whitebalance", 3300, 1000, 12000)
camera.add("right_r_set_auto_exposure_limit", bool_t, 0, "Enable auto exposure limit", False)
camera.add("right_r_auto_exposure_limit", int_t, 0, "Auto exposure limit", 1000, 1, 33000)
camera.add("right_r_set_sharpness", bool_t, 0, "Enable sharpness", False)
camera.add("right_r_sharpness", int_t, 0, "Sharpness", 0, 0, 4)
camera.add("right_r_set_chroma_denoise", bool_t, 0, "Enable chroma denoise", False)
camera.add("right_r_chroma_denoise", int_t, 0, "Chroma denoise", 0, 0, 4)
camera.add("right_r_set_luma_denoise", bool_t, 0, "Enable luma denoise", False)
camera.add("right_r_luma_denoise", int_t, 0, "Luma denoise", 0, 0, 4)

camera.add("rgb_r_keep_preview_aspect_ratio", bool_t, 0, "Keep preview aspect ratio", True)
camera.add("rgb_r_exposure", int_t, 0, "Sensor exposure", 1000, 1, 33000)
Expand All @@ -39,5 +55,13 @@ camera.add("rgb_r_set_man_exposure", bool_t, 0, "Enable manual exposure", False)
camera.add("rgb_r_set_man_focus", bool_t, 0, "Enable manual focus", False)
camera.add("rgb_r_set_man_whitebalance", bool_t, 0, "Enable manual whitebalance", False)
camera.add("rgb_r_whitebalance", int_t, 0, "Whitebalance", 3300, 1000, 12000)
camera.add("rgb_r_set_auto_exposure_limit", bool_t, 0, "Enable auto exposure limit", False)
camera.add("rgb_r_auto_exposure_limit", int_t, 0, "Auto exposure limit", 1000, 1, 33000)
camera.add("rgb_r_set_sharpness", bool_t, 0, "Enable sharpness", False)
camera.add("rgb_r_sharpness", int_t, 0, "Sharpness", 0, 0, 4)
camera.add("rgb_r_set_chroma_denoise", bool_t, 0, "Enable chroma denoise", False)
camera.add("rgb_r_chroma_denoise", int_t, 0, "Chroma denoise", 0, 0, 4)
camera.add("rgb_r_set_luma_denoise", bool_t, 0, "Enable luma denoise", False)
camera.add("rgb_r_luma_denoise", int_t, 0, "Luma denoise", 0, 0, 4)

exit(gen.generate(PACKAGE, "depthai_ros_driver", "parameters"))
exit(gen.generate(PACKAGE, "depthai_ros_driver", "parameters"))
4 changes: 2 additions & 2 deletions depthai_ros_driver/launch/camera.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,8 @@
<param name="$(arg name)/infra2_i_fps"
value="$(eval depth_module_infra_profile.split(',')[2])" />

<param name="$(arg name)/depth_i_publish_left_rect" value="true" />
<param name="$(arg name)/depth_i_publish_right_rect" value="true" />
<param name="$(arg name)/depth_i_left_rect_publish_topic" value="true" />
<param name="$(arg name)/depth_i_right_rect_publish_topic" value="true" />
</group>

<arg name="params_file" default="$(find depthai_ros_driver)/config/camera.yaml" />
Expand Down
2 changes: 1 addition & 1 deletion depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ void Stereo::setupRectQueue(std::shared_ptr<dai::Device> device,
pubConfig.width = ph->getOtherNodeParam<int>(sensorName, "i_width");
pubConfig.height = ph->getOtherNodeParam<int>(sensorName, "i_height");
pubConfig.topicName = sensorName;
pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_rect";
pubConfig.maxQSize = ph->getOtherNodeParam<int>(sensorName, "i_max_q_size");
pubConfig.socket = sensorInfo.socket;
pubConfig.infoMgrSuffix = "rect";
Expand Down
68 changes: 68 additions & 0 deletions depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,22 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera> mo
}
monoCam->setImageOrientation(
utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
monoCam->initialControl.setAutoExposureLimit(expLimit);
}
int sharpness = declareAndLogParam<int>("r_sharpness", 1);
if(declareAndLogParam("r_set_sharpness", false)) {
monoCam->initialControl.setSharpness(sharpness);
}
int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
if(declareAndLogParam("r_set_chroma_denoise", false)) {
monoCam->initialControl.setChromaDenoise(chromaDenoise);
}
int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
if(declareAndLogParam("r_set_luma_denoise", false)) {
monoCam->initialControl.setLumaDenoise(lumaDenoise);
}
}

void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> colorCam, dai_nodes::sensor_helpers::ImageSensor sensor, bool publish) {
Expand Down Expand Up @@ -166,6 +182,22 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
}
colorCam->setImageOrientation(
utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
colorCam->initialControl.setAutoExposureLimit(expLimit);
}
int sharpness = declareAndLogParam<int>("r_sharpness", 1);
if(declareAndLogParam("r_set_sharpness", false)) {
colorCam->initialControl.setSharpness(sharpness);
}
int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
if(declareAndLogParam("r_set_chroma_denoise", false)) {
colorCam->initialControl.setChromaDenoise(chromaDenoise);
}
int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
if(declareAndLogParam("r_set_luma_denoise", false)) {
colorCam->initialControl.setLumaDenoise(lumaDenoise);
}
}
dai::CameraControl SensorParamHandler::setRuntimeParams(parametersConfig& config) {
dai::CameraControl ctrl;
Expand All @@ -187,6 +219,18 @@ dai::CameraControl SensorParamHandler::setRuntimeParams(parametersConfig& config
} else {
ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
}
if(config.rgb_r_set_auto_exposure_limit) {
ctrl.setAutoExposureLimit(config.rgb_r_auto_exposure_limit);
}
if(config.rgb_r_set_sharpness) {
ctrl.setSharpness(config.rgb_r_sharpness);
}
if(config.rgb_r_set_chroma_denoise) {
ctrl.setChromaDenoise(config.rgb_r_chroma_denoise);
}
if(config.rgb_r_set_luma_denoise) {
ctrl.setLumaDenoise(config.rgb_r_luma_denoise);
}
} else if(getName() == "left") {
if(config.left_r_set_man_exposure) {
ctrl.setManualExposure(config.left_r_exposure, config.left_r_iso);
Expand All @@ -204,6 +248,18 @@ dai::CameraControl SensorParamHandler::setRuntimeParams(parametersConfig& config
} else {
ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
}
if(config.left_r_set_auto_exposure_limit) {
ctrl.setAutoExposureLimit(config.left_r_auto_exposure_limit);
}
if(config.left_r_set_sharpness) {
ctrl.setSharpness(config.left_r_sharpness);
}
if(config.left_r_set_chroma_denoise) {
ctrl.setChromaDenoise(config.left_r_chroma_denoise);
}
if(config.left_r_set_luma_denoise) {
ctrl.setLumaDenoise(config.left_r_luma_denoise);
}
} else if(getName() == "right") {
if(config.right_r_set_man_exposure) {
ctrl.setManualExposure(config.right_r_exposure, config.right_r_iso);
Expand All @@ -221,6 +277,18 @@ dai::CameraControl SensorParamHandler::setRuntimeParams(parametersConfig& config
} else {
ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
}
if(config.right_r_set_auto_exposure_limit) {
ctrl.setAutoExposureLimit(config.right_r_auto_exposure_limit);
}
if(config.right_r_set_sharpness) {
ctrl.setSharpness(config.right_r_sharpness);
}
if(config.right_r_set_chroma_denoise) {
ctrl.setChromaDenoise(config.right_r_chroma_denoise);
}
if(config.right_r_set_luma_denoise) {
ctrl.setLumaDenoise(config.right_r_luma_denoise);
}
}

return ctrl;
Expand Down
4 changes: 2 additions & 2 deletions depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
declareAndLogParam<bool>("i_left_rect_add_exposure_offset", false);
declareAndLogParam<int>("i_left_rect_exposure_offset", 0);
declareAndLogParam<bool>("i_left_rect_enable_feature_tracker", false);
declareAndLogParam<bool>("i_left_rect_synced", true);
declareAndLogParam<bool>("i_left_rect_synced", false);
declareAndLogParam<bool>("i_left_rect_publish_compressed", false);

declareAndLogParam<bool>("i_right_rect_publish_topic", false);
Expand All @@ -91,7 +91,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
declareAndLogParam<bool>("i_right_rect_enable_feature_tracker", false);
declareAndLogParam<bool>("i_right_rect_add_exposure_offset", false);
declareAndLogParam<int>("i_right_rect_exposure_offset", 0);
declareAndLogParam<bool>("i_right_rect_synced", true);
declareAndLogParam<bool>("i_right_rect_synced", false);
declareAndLogParam<bool>("i_right_rect_publish_compressed", false);

declareAndLogParam<bool>("i_enable_spatial_nn", false);
Expand Down
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