Ressurected black levels at approriate levels

labforge · Sep 12, 2023 · f21ff4c · f21ff4c
1 parent e7210da
commit f21ff4c
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Showing 3 changed files with 15 additions and 1 deletion.
diff --git a/README.md b/README.md
@@ -59,6 +59,11 @@ ros2 run image_view image_view --ros-args --remap /image:=/image_raw
 | ```wbBlue```                            | White balance for blue component                                              | ```1.0```               | :heavy_check_mark:   |
 | ```wbGreen```                           | White balance for green component                                             | ```1.0```               | :heavy_check_mark:   |
 | ```wbRed```                             | White balance for red component                                               | ```1.0```               | :heavy_check_mark:   |
+| ```blackBlue```                         | Black level for blue pixels in Bayer array                                    | ```4200```              | :heavy_check_mark:  |
+| ```blackGB```                           | Black level for green-blue pixels in Bayer array                              | ```4200```               | :heavy_check_mark:  |
+| ```blackGR```                           | Black level for green-red pixels in Bayer array                               | ```4200```               | :heavy_check_mark:  |
+| ```blackRed```                          | Black level for red pixels in Bayer array                                     | ```4200```               | :heavy_check_mark:  |
+
 | **Color Correction Controls**           |                                                                               |                         |                      |
 | ```CCMColorProfile```                   | Color correction profile preset                                               | ```IndoorWarmLightCurtainOpen``` | :x:         |
 | **GigE Vision Stream Parameters**       |                                                                               |                         |                      |

diff --git a/include/bottlenose_parameters.hpp b/include/bottlenose_parameters.hpp
@@ -49,6 +49,11 @@ const parameter_t bottlenose_parameters[] = {
   {"CCMColorProfile", rclcpp::ParameterValue("IndoorWarmLightCurtainOpen")},
   /* Reception timeout */
   {"Timeout", rclcpp::ParameterValue(5000)},
+  /* Black level controls */
+  {"blackBlue", rclcpp::ParameterValue(4200)},
+  {"blackGB", rclcpp::ParameterValue(4200)},
+  {"blackGR", rclcpp::ParameterValue(4200)},
+  {"blackRed", rclcpp::ParameterValue(4200)},
 
 //  /* Lens and extrinsic parameters -> not used FIXME: figure out ROS2 calibration files */
 //  {"Rectification", rclcpp::ParameterValue(false)},

diff --git a/src/bottlenose_camera_driver.cpp b/src/bottlenose_camera_driver.cpp
@@ -161,7 +161,11 @@ bool CameraDriver::update_runtime_parameters() {
     for(auto param : {"dgainBlue",
                       "dgainGB",
                       "dgainGR",
-                      "dgainRed"}) {
+                      "dgainRed",
+                      "blackBlue",
+                      "blackGB",
+                      "blackGR",
+                      "blackRed"}) {
         PvGenInteger *intval = static_cast<PvGenInteger *>( m_device->GetParameters()->Get(param));
         int64_t val = get_parameter(param).as_int();
         try {