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Orbbec SDK Open Source Repo
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Converting device controls from k4a to OrbbecSDK #9

Open Suedocode opened 1 day ago

Suedocode commented 1 day ago

Listed device controls from ob_device_control (edited to print current values as well):

------------------------------------------------------------------------
00. OB_PROP_DEPTH_ALIGN_HARDWARE_BOOL(42):  0   permission=R/W, range=Bool value(min:0, max:1, step:1)
01. OB_PROP_TIMESTAMP_OFFSET_INT(43):   0   permission=R/W, range=Int value(min:0, max:0, step:0)
02. OB_PROP_FAN_WORK_MODE_INT(62):  1   permission=R/W, range=Int value(min:0, max:1, step:1)
03. OB_PROP_DEPTH_ALIGN_HARDWARE_MODE_INT(63):  0   permission=R/W, range=Int value(min:0, max:0, step:0)
04. OB_PROP_INDICATOR_LIGHT_BOOL(83):   1   permission=R/W, range=Bool value(min:0, max:1, step:1)
05. OB_PROP_HEARTBEAT_BOOL(89): 0   permission=R/W, range=Bool value(min:0, max:1, step:1)
06. OB_PROP_SWITCH_IR_MODE_INT(98): 0   permission=R/W, range=Int value(min:0, max:1, step:1)
07. OB_PROP_TIMER_RESET_SIGNAL_BOOL(104):   EXCPT   permission=_/W, range=Bool value(min:0, max:1, step:1)
08. OB_PROP_USB_POWER_STATE_INT(121):   3   permission=R/_, range=Int value(min:0, max:1, step:1)
09. OB_PROP_DC_POWER_STATE_INT(122):    1   permission=R/_, range=Int value(min:0, max:1, step:1)
10. OB_PROP_BOOT_INTO_RECOVERY_MODE_BOOL(132):  EXCPT   permission=_/W, range=Bool value(min:0, max:1, step:1)
11. OB_PROP_TIMER_RESET_ENABLE_BOOL(140):   0   permission=R/W, range=Bool value(min:0, max:1, step:1)
12. OB_PROP_COLOR_AUTO_EXPOSURE_BOOL(2000): 1   permission=R/W, range=Bool value(min:0, max:1, step:1)
13. OB_PROP_COLOR_EXPOSURE_INT(2001):   200 permission=R/W, range=Int value(min:1, max:2000, step:1)
14. OB_PROP_COLOR_EXPOSURE_INT(2001):   200 permission=R/W, range=Int value(min:1, max:2000, step:1)
15. OB_PROP_COLOR_GAIN_INT(2002):   60  permission=R/W, range=Int value(min:1, max:240, step:1)
16. OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL(2003):    1   permission=R/W, range=Bool value(min:0, max:1, step:1)
17. OB_PROP_COLOR_WHITE_BALANCE_INT(2004):  6500    permission=R/W, range=Int value(min:2000, max:11000, step:100)
18. OB_PROP_COLOR_BRIGHTNESS_INT(2005): 0   permission=R/W, range=Int value(min:0, max:128, step:1)
19. OB_PROP_COLOR_SHARPNESS_INT(2006):  6   permission=R/W, range=Int value(min:1, max:15, step:1)
20. OB_PROP_COLOR_SATURATION_INT(2008): 54  permission=R/W, range=Int value(min:1, max:80, step:1)
21. OB_PROP_COLOR_CONTRAST_INT(2009):   32  permission=R/W, range=Int value(min:1, max:60, step:1)
22. OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT(2015):   2   permission=R/W, range=Int value(min:0, max:2, step:1)
23. OB_PROP_DEPTH_EXPOSURE_INT(2017):   125 permission=R/_, range=Int value(min:20, max:125, step:1)
24. OB_PROP_IR_EXPOSURE_INT(2026):  125 permission=R/_, range=Int value(min:20, max:125, step:1)
25. OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL(3009): 1   permission=R/W, range=Bool value(min:0, max:1, step:1)
26. OB_PROP_SDK_GYRO_FRAME_TRANSFORMED_BOOL(3010):  1   permission=R/W, range=Bool value(min:0, max:1, step:1)
------------------------------------------------------------------------

Notably, props 13 and 14 are identical, but I don't think that's a critical issue. Below is my best guess on control conversions, but a few I'm not sure how to reproduce:

Auto exposure time seems pretty straightforward

//12. OB_PROP_COLOR_AUTO_EXPOSURE_BOOL(2000):   1   permission=R/W, range=Bool value(min:0, max:1, step:1)
k4a_dev.set_color_control(
    K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
    K4A_COLOR_CONTROL_MODE_AUTO,
    0 //unused I think
    );
orbbec_dev->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, 1);

PROBLEM: Manual control over exposure time is unclear to me (k4a exposure mappings, k4a enums). This is also the setting with duplicate index, which I could use clarification on as well. The value for k4a is in microseconds, but orbbec's range limit does not go high enough to replicate the setting value.

//13. OB_PROP_COLOR_EXPOSURE_INT(2001): 200 permission=R/W, range=Int value(min:1, max:2000, step:1)
//14. OB_PROP_COLOR_EXPOSURE_INT(2001): 200 permission=R/W, range=Int value(min:1, max:2000, step:1)
dev.set_color_control(
    K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
    K4A_COLOR_CONTROL_MODE_MANUAL,
    2500 /*microseconds*/
    ); 
orbbec_dev->setIntProperty(OB_PROP_COLOR_EXPOSURE_INT, /* ?? */); 
orbbec_dev->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, 0);

QUESTION: The gain in the k4a viewer was adjustable to 255, and I wrote this into the k4a settings, but Orbbec says the max range is up to 240. I think that is probably good enough, but I was curious if there was some clarification here on the difference. It's possible k4a simply clamped 255 to 240.

//15. OB_PROP_COLOR_GAIN_INT(2002): 60  permission=R/W, range=Int value(min:1, max:240, step:1)
dev.set_color_control(
    K4A_COLOR_CONTROL_GAIN,
    K4A_COLOR_CONTROL_MODE_MANUAL,
    255 
    );
orbbec_dev->setIntProperty(OB_PROP_COLOR_GAIN_INT, 240); //max is 240 according to Orbbec options

PROBLEM: Backlight compensation exists in OrbbecSDK as OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT(2013), but for some reason it was not listed in my device's properties. The k4a library also has it as a bool type, whereas orbbec lists it as int.

//Setting was not enumerated in device controls!
dev.set_color_control(
    K4A_COLOR_CONTROL_BACKLIGHT_COMPENSATION,
    K4A_COLOR_CONTROL_MODE_MANUAL,
    1   
    );
orbbec_dev->setIntProperty(OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT, 1);

Environment: Ubuntu 22.04.5 LTS (x86_64) g++ 11.4.0 OrbbecSDK-dev https://github.com/orbbec/OrbbecSDK-dev/commit/bd2d4dd41d6214c9d8bfe3365efa865d5fe8df9f Femto: Firmware v1.2.9

hzcyf commented 19 hours ago
  1. Props 13 and 14 are identical: it is fixed in the new versions and will be released recently.
  2. The exposure unit for the color sensor in Femto Mega is set at 100 microseconds, as defined by the UVC protocol.
  3. The maximum gain value supported by the Color Sensor of Femto Mega is only 240. We are not using the same Sensor and ISP as the K4A camera, and we are also unsure how Microsoft has implemented this.
  4. The OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT property is not supported by Femto Mega, as it is intended for use with other device models. In devices that do support this property, the configurable options extend beyond just true and false.