Hi, I think yes, if its a crucial feature we can put in on top of backlog
How can I set the autoexposure region when using the ROS node?
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
- Best Answerset by BradSteiner
Hi, if you are using Humble, you can refer to this branch for now
I am using Humble, thanks!!
2 months later
Do you know if this change will be merged into the main humble branch?
Luxonis-Adam Hey Adam. We have actually tried this branch and are able to set the runtime parameters. The parameters are set successfully but we see no noticeable changes on the image output. We tested on a use case similar to what you guys have here (https://docs.luxonis.com/software/depthai/examples/autoexposure_roi/) but were unable to get similar results.
Hi @CamDuarte could you write down which parameters did you explicitly set?
@BradSteiner will be merged today, should be available with the next release
- Edited
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}")Thanks @CamDuarte, unless this is set externally they should also set r_set_autoexp_region: true for this to work
Luxonis-Adam Thanks! Let me try this!
Luxonis-Adam This parameter does not seem to be available. Currently referencing the list of parameters published here (https://docs.luxonis.com/software/ros/depthai-ros/driver/)
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