Setting manual exposure does not sustain using depthai_ros (humble)

TenzinCrouch

Hey everyone,

We are currently testing an OAK-D-PRO with manual exposures for some specific extreme lighting conditions.

We are setting the r_set_manual_exposure=true and r_exposure to our desired value for each camera (left, right, RGB) in the yaml file. On launch, the exposure appears to match what we set but then it automatically adjusts as it would under auto exposure mode. This behaviour is observed for the stereo cams only, the RGB camera maintains the manual exposure value.

We're using the ROS2 drivers in a docker container, and the standard pointcloud.launch.py file from the depthai_ros_driver package.

Has anyone else experienced this behaviour, or is there something we're missing in the settings for manual exposure control?

jakaskerl

Hi @TenzinCrouch
The left and right share the same I2C bus and are expected to run stereo, so they are forced to the same 3A settings.
The master (usually right) camera is the one keeping the settings, while the other (usually left) gets set to the same settings to ensure good stereo matching.

Thanks,
Jaka

TenzinCrouch

Thanks, Jaka,

Seems like the issues we were seeing caused by accidentally setting exposures lower than 10us when testing some extreme lighting conditions. The r_set_manual_exposure=true flag was working as expected when exposures were set above 10us.