• ROS

  • How can I set the autoexposure region when using the ROS node?

Is there a way to set an autoexposure region using the ROS parameters? (and ideally also the autofocus region?) Thanks!

    Hi, currently it is not possible to do that, you can set exposure manually via ROS parameter mechanism

    any idea if this will be possible in the future?

    Hi, I think yes, if its a crucial feature we can put in on top of backlog

    For our usecase it is definitely crucial. We are currently seeing our area of interest washed out due to a darker background. However our lighting will not be completely fixed so we cannot rely on manual exposure parameters

    @BradSteiner which ROS distro are you using? I can create a temporary branch with this feature that you will be able to use in meantime

    I am using Humble, thanks!!

    2 months later

    Do you know if this change will be merged into the main humble branch?

    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}")

      Hi, the full name should be rgb.r_set_autoexp_region. You can get the list of all parameters either by using ros2 param dump /oak or going through param_handlers classes in the driver. Documentation will be updated after the release