Dynamic reconfigure of SR300 exposure controls

DerelictRobot · Mar 8, 2017 · a43218d · a43218d
1 parent 06524a9
commit a43218d
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/realsense_camera/cfg/sr300_params.cfg b/realsense_camera/cfg/sr300_params.cfg
@@ -22,6 +22,11 @@ gen.add("color_white_balance", int_t, 0, "White Bala
 
 gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
 
+# Must be set only if color_enable_auto_exposure is disabled
+gen.add("color_exposure", int_t, 0, "Exposure", 156, 39, 10000)
+
+gen.add("color_enable_auto_exposure", int_t, 0, "Enable Auto Exposure", 1, 0, 1)
+
 # Options common with F200
 gen.add("f200_laser_power", int_t, 0, "Laser Power", 16, 0, 16)
 gen.add("f200_accuracy", int_t, 0, "Accuracy", 1, 1, 3)

diff --git a/realsense_camera/src/sr300_nodelet.cpp b/realsense_camera/src/sr300_nodelet.cpp
@@ -144,6 +144,12 @@ namespace realsense_camera
  rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.color_hue, 0);
  rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.color_saturation, 0);
  rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.color_sharpness, 0);
+ rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE,
+ config.color_enable_auto_exposure, 0);
+ if (config.color_enable_auto_exposure == 0)
+ {
+ rs_set_device_option(rs_device_, RS_OPTION_COLOR_EXPOSURE, config.color_exposure, 0);
+ }
  rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE,
  config.color_enable_auto_white_balance, 0);
  if (config.color_enable_auto_white_balance == 0)