Fixed LR auto exposure issue IntelRealSense#131

LR gain should be set only when LR auto exposure is disabled
DerelictRobot · Mar 9, 2017 · 14fdccf · 14fdccf
1 parent 06524a9
commit 14fdccf
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Showing 4 changed files with 18 additions and 15 deletions.
diff --git a/realsense_camera/cfg/r200_params.cfg b/realsense_camera/cfg/r200_params.cfg
@@ -20,21 +20,21 @@ gen.add("color_sharpness", int_t, 0, "Sharpnes
 # Must be set only if color_enable_auto_white_balance is disabled
 gen.add("color_white_balance", int_t, 0, "White Balance", 6500, 2000, 8000)
 
-gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
-gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1)
-gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399)
-
 # Must be set only if r200_lr_auto_exposure_enabled is disabled
+gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399)
 gen.add("r200_lr_exposure", int_t, 0, "LR Exposure", 164, 1, 164)
 
-gen.add("r200_emitter_enabled", int_t, 0, "Emitter Enabled", 1, 0, 1)
+gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
+gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "Enable LR Auto Exposure", 0, 0, 1)
 
 # The following edge parameters must be set only if r200_lr_auto_exposure_enabled is enabled
 gen.add("r200_auto_exposure_top_edge", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479)
 gen.add("r200_auto_exposure_bottom_edge", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479)
 gen.add("r200_auto_exposure_left_edge", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639)
 gen.add("r200_auto_exposure_right_edge", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639)
 
+gen.add("r200_emitter_enabled", int_t, 0, "Emitter Enabled", 1, 0, 1)
+
 # Depth Control Grouping
 r200_depth_control = gen.add_group("R200 Depth Control")
 r200_dc_preset_enum = gen.enum(

diff --git a/realsense_camera/cfg/zr300_params.cfg b/realsense_camera/cfg/zr300_params.cfg
@@ -21,14 +21,14 @@ gen.add("color_sharpness", int_t, 0, "Sha
 # Must be set only if color_enable_auto_white_balance is disabled
 gen.add("color_white_balance", int_t, 0, "White Balance", 4600, 2000, 8000)
 
-gen.add("color_enable_auto_exposure", int_t, 0, "Enable Auto Exposure", 1, 0, 1)
-gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
-gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1)
-gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399)
-
 # Must be set only if r200_lr_auto_exposure_enabled is disabled
+gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399)
 gen.add("r200_lr_exposure", int_t, 0, "LR Exposure", 164, 1, 164)
 
+gen.add("color_enable_auto_exposure", int_t, 0, "Enable Auto Exposure", 1, 0, 1)
+gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
+gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "Enable LR Auto Exposure", 0, 0, 1)
+
 gen.add("r200_emitter_enabled", int_t, 0, "Emitter Enabled", 1, 0, 1)
 gen.add("r200_depth_clamp_min", int_t, 0, "Depth Clamp Min", 0, 0, 65535)
 gen.add("r200_depth_clamp_max", int_t, 0, "Depth Clamp Max", 65535, 0, 65535)

diff --git a/realsense_camera/src/r200_nodelet.cpp b/realsense_camera/src/r200_nodelet.cpp
@@ -1,5 +1,5 @@
 /******************************************************************************
- Copyright (c) 2016, Intel Corporation
+ Copyright (c) 2017, Intel Corporation
  All rights reserved.
 
  Redistribution and use in source and binary forms, with or without
@@ -284,10 +284,10 @@ namespace realsense_camera
  rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.r200_lr_auto_exposure_enabled, 0);
  if (config.r200_lr_auto_exposure_enabled == 0)
  {
+ rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0);
  rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.r200_lr_exposure, 0);
  }
- rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0);
- rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0);
+
  if (config.r200_lr_auto_exposure_enabled == 1)
  {
  if (config.r200_auto_exposure_top_edge >= height_[RS_STREAM_DEPTH])
@@ -314,6 +314,8 @@ namespace realsense_camera
  rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0);
  }
 
+ rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0);
+
  // Depth Control Group Settings
  // NOTE: do NOT use the config.groups values as they are zero the first time called
  if (bit_level.test(5)) // 2^5 = 32 : Individual Depth Control settings

diff --git a/realsense_camera/src/zr300_nodelet.cpp b/realsense_camera/src/zr300_nodelet.cpp
@@ -1,5 +1,5 @@
 /******************************************************************************
- Copyright (c) 2016, Intel Corporation
+ Copyright (c) 2017, Intel Corporation
  All rights reserved.
 
  Redistribution and use in source and binary forms, with or without
@@ -386,9 +386,10 @@ namespace realsense_camera
  rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.r200_lr_auto_exposure_enabled, 0);
  if (config.r200_lr_auto_exposure_enabled == 0)
  {
+ rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0);
  rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.r200_lr_exposure, 0);
  }
- rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0);
+
  rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0);
  rs_set_device_option(rs_device_, RS_OPTION_R200_DEPTH_CLAMP_MIN, config.r200_depth_clamp_min, 0);
  rs_set_device_option(rs_device_, RS_OPTION_R200_DEPTH_CLAMP_MAX, config.r200_depth_clamp_max, 0);