Luxonis-Adam Certainly,
Here is the client setup
self.exp_parameter_client = self.create_client(SetParameters, '/oak/set_parameters')
Here is the definition of the parameters
def set_exposure_params(self, box):
self.get_logger().info("Setting exposure params")
# Use the input bounding box to set the exposure region of interest
# box = np.array([[min_x, min_y], [max_x, min_y], [max_x, max_y], [min_x, max_y]])
request = SetParameters.Request()
roi_dict = {
"rgb.r_auto_exp_region_start_x": box[0][0],
"rgb.r_auto_exp_region_start_y": box[0][1],
"rgb.r_auto_exp_region_width": box[1][0] - box[0][0],
"rgb.r_auto_exp_region_height": box[2][1] - box[0][1],
}
cam_exposure_params = []
for key, val in roi_dict.items():
param = Parameter()
param.name = key # Full parameter name
param.value.type = ParameterType.PARAMETER_INTEGER
param.value.integer_value = int(val)
cam_exposure_params.append(param)
request.parameters = cam_exposure_params
future = self.exp_parameter_client.call_async(request)
rclpy.spin_until_future_complete(self, future)
response = future.result()
self.get_logger().info(f"Set exposure params response: {response}")
