MotionCam3D - expose white balance in launchfile

[bmegli]

The device currently boots with custom white balance which has a red tint

Some way to control from ROS driver is needed

[bmegli]

Looking at GenICam features

        Boolean      : [RW] 'ColorSettings_WhiteBalanceEnabled'
        String       : [RW] 'ColorSettings_WhiteBalancePreset'
        Float        : [RW] 'ColorSettings_WhiteBalanceR'
        Float        : [RW] 'ColorSettings_WhiteBalanceG'
        Float        : [RW] 'ColorSettings_WhiteBalanceB'
        Boolean      : [RW] 'ColorSettings_ComputeCustomWhiteBalance'
        Register     : [RO] 'ColorSettings_SupportedISOs'
        Register     : [RO] 'ColorSettings_SupportedExposures'
        Register     : [RO] 'ColorSettings_SupportedCapturingModes'
        Register     : [RO] 'ColorSettings_SupportedColorWhiteBalancePresets'

[bmegli]

arv-tool-0.8 control ColorSettings_WhiteBalanceEnabled ColorSettings_WhiteBalancePreset ColorSettings_WhiteBalanceR ColorSettings_WhiteBalanceG ColorSettings_WhiteBalanceB ColorSettings_ComputeCustomWhiteBalance
Photoneo-MotionCam-3D Color-TRD-058 (192.168.0.194)
ColorSettings_WhiteBalanceEnabled = true
ColorSettings_WhiteBalancePreset = Custom
ColorSettings_WhiteBalanceR = 1 min:0 max:1
ColorSettings_WhiteBalanceG = 0.5 min:0 max:1
ColorSettings_WhiteBalanceB = 1 min:0 max:1
ColorSettings_ComputeCustomWhiteBalance = false

[bmegli]

We can't easily read presets with arv-tool but we can check them in PhoXI Control

[bmegli]

PhoXI Control

We have:

• Custom
• Tungsten
• Florescent
• Internal LED
• Daylight
• Cloudy

[bmegli]

Testing Setting

arv-tool-0.8 control ColorSettings_WhiteBalancePreset=Daylight

This did not change the preset correctly (!)

[bmegli]

It looks like the color tempreture is also part of preset name

[bmegli]

arv-tool-0.8 control ColorSettings_WhiteBalancePreset='Internal LED (5000 - 5500K)'
Photoneo-MotionCam-3D Color-TRD-058 (192.168.0.194)
ColorSettings_WhiteBalancePreset = Internal LED (5000 - 5500K)

[bmegli]

Now we can compare say Custom vs Daylight

And we can get rid of the red tint the device boots with

arv-tool-0.8 control ColorSettings_WhiteBalancePreset='Custom'	arv-tool-0.8 control ColorSettings_WhiteBalancePreset='Daylight (5000 - 6500K)'

[bmegli]

We will only expose the preset setting to set, and if not set leave it as is

If somebody needs to set custom values he can still do it through GenICam (also through ROS)

[bmegli]

We have presets:

• Custom
• Tungsten (2500 - 4000K)
• Florescent (4000 - 5000K)
• Internal LED (5000 - 5500K)
• Daylight (5000 - 6500K)
• Cloudy (6500 - 8000K)

The setting should be string so that any preset can be set.

Those will be just documented ones

[bmegli]

Testing New Setting

roslaunch camera_aravis photoneo_motioncam.launch enable_color_camera:=true enable_intensity:=false white_balance_preset:='Custom'	roslaunch camera_aravis photoneo_motioncam.launch enable_color_camera:=true enable_intensity:=false white_balance_preset:='Daylight (5000 - 6500K)'

[bmegli]

Since I find what the device boots up with as incorrect in color representation we will set default to Daylight