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Add dynamic reconfigure for gain and exposure #188

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Merged
adujardin merged 1 commit into from
Mar 5, 2018
Merged

Add dynamic reconfigure for gain and exposure #188

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3 changes: 3 additions & 0 deletions cfg/Zed.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -6,5 +6,8 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

gen.add("confidence", int_t, 0, "Confidence threshold, the lower the better", 80, 1, 100)
gen.add("exposure", int_t, 1, "Exposure value when manual controlled", 100, 0, 100);
gen.add("gain", int_t, 2, "Gain value when manual controlled", 50, 0, 100);
gen.add("auto_exposure", bool_t, 3, "Enable/Disable auto control of exposure and gain", True);

exit(gen.generate(PACKAGE, "zed_wrapper", "Zed"))
3 changes: 3 additions & 0 deletions launch/zed_camera.launch
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Expand Up @@ -60,6 +60,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<param name="openni_depth_mode" value="0" />
<param name="gpu_id" value="$(arg gpu_id)" />
<param name="confidence" value="100" />
<param name="gain" value="100" />
<param name="exposure" value="100" />
<param name="auto_exposure" value="true" />
<param name="depth_stabilization" value="1" />

<!-- ROS topic names -->
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51 changes: 47 additions & 4 deletions src/zed_wrapper_nodelet.cpp
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Expand Up @@ -147,6 +147,10 @@ namespace zed_wrapper {

// flags
int confidence;
int exposure;
int gain;
bool autoExposure;
bool triggerAutoExposure;
bool computeDepth;
bool grabbing = false;
int openniDepthMode = 0; // 16 bit UC data in mm else 32F in m, for more info http://www.ros.org/reps/rep-0118.html
Expand Down Expand Up @@ -483,8 +487,26 @@ namespace zed_wrapper {
}

void callback(zed_wrapper::ZedConfig &config, uint32_t level) {
NODELET_INFO("Reconfigure confidence : %d", config.confidence);
confidence = config.confidence;
switch (level) {
case 0:
NODELET_INFO("Reconfigure confidence : %d", config.confidence);
confidence = config.confidence;
break;
case 1:
NODELET_INFO("Reconfigure exposure : %d", config.exposure);
exposure = config.exposure;
break;
case 2:
NODELET_INFO("Reconfigure gain : %d", config.gain);
gain = config.gain;
break;
case 3:
NODELET_INFO("Reconfigure auto control of exposure and gain : %s", config.auto_exposure ? "Enable" : "Disable");
autoExposure = config.auto_exposure;
if (autoExposure)
triggerAutoExposure = true;
break;
}
}

void device_poll() {
Expand Down Expand Up @@ -608,6 +630,23 @@ namespace zed_wrapper {

old_t = ros::Time::now();

if (autoExposure) {
// getCameraSettings() can't check status of auto exposure
// triggerAutoExposure is used to execute setCameraSettings() only once
if (triggerAutoExposure) {
zed.setCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE, 0, true);
triggerAutoExposure = false;
}
} else {
int actual_exposure = zed.getCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE);
if (actual_exposure != exposure)
zed.setCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE, exposure);

int actual_gain = zed.getCameraSettings(sl::CAMERA_SETTINGS_GAIN);
if (actual_gain != gain)
zed.setCameraSettings(sl::CAMERA_SETTINGS_GAIN, gain);
}

// Publish the left == rgb image if someone has subscribed to
if (left_SubNumber > 0 || rgb_SubNumber > 0) {
// Retrieve RGBA Left image
Expand Down Expand Up @@ -891,14 +930,18 @@ namespace zed_wrapper {

serial_number = zed.getCameraInformation().serial_number;

//Reconfigure confidence
//Reconfigure parameters
server = boost::make_shared<dynamic_reconfigure::Server < zed_wrapper::ZedConfig >> ();
dynamic_reconfigure::Server<zed_wrapper::ZedConfig>::CallbackType f;
f = boost::bind(&ZEDWrapperNodelet::callback, this, _1, _2);
server->setCallback(f);

nh_ns.getParam("confidence", confidence);

nh_ns.getParam("exposure", exposure);
nh_ns.getParam("gain", gain);
nh_ns.getParam("auto_exposure", autoExposure);
if (autoExposure)
triggerAutoExposure = true;

// Create all the publishers
// Image publishers
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