Merge pull request #44 from AkiraShibata18/2022.05.31-add-roi-auto-ex…

…posure add ROI auto exposure and auto white balance
GITAI · Jun 6, 2022 · 90b54a6 · 90b54a6
2 parents b0539d1 + adcc428
commit 90b54a6
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Showing 2 changed files with 21 additions and 1 deletion.
diff --git a/spinnaker_camera_driver/cfg/Spinnaker.cfg b/spinnaker_camera_driver/cfg/Spinnaker.cfg
@@ -86,7 +86,7 @@ gen.add("exposure_mode",                         str_t,       SensorLevels.RECON
 gen.add("exposure_auto",                         str_t,       SensorLevels.RECONFIGURE_RUNNING,     "Sets the automatic exposure mode to: 'Off', 'Once' or 'Continuous'",                               "Continuous")
 gen.add("exposure_time",                         double_t,    SensorLevels.RECONFIGURE_RUNNING,     "Exposure time in microseconds when Exposure Mode is Timed and Exposure Auto is not Continuous.",                                        100.0,                        0.0,     3000000.0)
 gen.add("auto_exposure_time_upper_limit",        double_t,    SensorLevels.RECONFIGURE_RUNNING,     "Upper Limit on Shutter Speed.",                                                                     50000.0,                      0.0,     3000000.0)
-
+gen.add("auto_exposure_time_lower_limit",        double_t,    SensorLevels.RECONFIGURE_RUNNING,     "Lower Limit on Shutter Speed.",                                                                     100.0,                      0.0,     3000000.0)
 
 # Gain Settings
 gen.add("gain_selector",                         str_t,       SensorLevels.RECONFIGURE_RUNNING,     "Selects which gain to control. The All selection is a total amplification across all channels.",    "All")
@@ -414,4 +414,15 @@ gen.add('ignore_incomplete_image', bool_t, SensorLevels.RECONFIGURE_STOP, "Conti
 # DefectCorrectStaticEnable
 gen.add("defect_correct_static_enable", bool_t, SensorLevels.RECONFIGURE_RUNNING, "DefectCorrectStaticEnable", True)
 
+# set ROI auto algorithm
+auto_algorithm_selector = gen.enum([gen.const("AutoWhiteBalance", str_t, "Awb", ""),
+                                    gen.const("AutoExposure", str_t, "Ae", "")],
+                                   "Selects auto algorithm applied ROI.")
+gen.add("auto_algorithm_selector", str_t, SensorLevels.RECONFIGURE_RUNNING, "ROI Auto Algorithm Selector", "Ae", edit_method=auto_algorithm_selector)
+gen.add("roi_enable", bool_t, SensorLevels.RECONFIGURE_RUNNING, "ROI enable", False)
+gen.add("roi_offset_x", int_t, SensorLevels.RECONFIGURE_RUNNING, "ROI OffsetX", 0, 0, 4000)
+gen.add("roi_offset_y", int_t, SensorLevels.RECONFIGURE_RUNNING, "ROI OffsetY", 0, 0, 4000)
+gen.add("roi_width", int_t, SensorLevels.RECONFIGURE_RUNNING, "ROI Width", 1000, 0, 4000)
+gen.add("roi_height", int_t, SensorLevels.RECONFIGURE_RUNNING, "ROI Width", 1000, 0, 4000)
+
 exit(gen.generate(PACKAGE, "spinnaker_camera_driver", "Spinnaker"))
diff --git a/spinnaker_camera_driver/src/camera.cpp b/spinnaker_camera_driver/src/camera.cpp
@@ -139,6 +139,8 @@ void Camera::setNewConfiguration(SpinnakerConfig& config, const uint32_t& level)
     {
       setProperty(node_map_, "AutoExposureExposureTimeUpperLimit",
                   static_cast<float>(config.auto_exposure_time_upper_limit));
+      setProperty(node_map_, "AutoExposureExposureTimeLowerLimit",
+                  static_cast<float>(config.auto_exposure_time_lower_limit));
     }
     Spinnaker::GenApi::CFloatPtr ptrExposureTime = node_map_->GetNode("ExposureTime");
     config.exposure_time = ptrExposureTime->GetValue();
@@ -321,6 +323,13 @@ void Camera::setNewConfiguration(SpinnakerConfig& config, const uint32_t& level)
     setProperty(node_map_, "CounterDelay", config.counter_delay);
     setProperty(node_map_, "CounterTriggerSource", config.counter_trigger_source);
     setProperty(node_map_, "CounterTriggerActivation", config.counter_trigger_activation);
+
+    setProperty(node_map_, "AutoAlgorithmSelector", config.auto_algorithm_selector);
+    setProperty(node_map_, "AasRoiEnable", config.roi_enable);
+    setProperty(node_map_, "AasRoiOffsetX", config.roi_offset_x);
+    setProperty(node_map_, "AasRoiOffsetY", config.roi_offset_y);
+    setProperty(node_map_, "AasRoiWidth", config.roi_width);
+    setProperty(node_map_, "AasRoiHeight", config.roi_height);
   }
   catch (const Spinnaker::Exception& e)
   {