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Extend-Robotics / camera_aravis

A ROS1 driver for GenICam based GigE and USB3 cameras.
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wrong exposure set for MotionCam depth #9

Closed bmegli closed 1 year ago

bmegli commented 1 year ago

After running ROS node we end up with 40.96 exposure which oversaturates the depth and results in holes

bmegli commented 1 year ago

Fixed by overwriting ExposureTime through rosparam -> GenICam

The real question is where is 40.96 exposure coming from

image

bmegli commented 1 year ago

The real question is where is 40.96 exposure coming from

It is coming from dynamic reconfigure defaults

gen.add("ExposureTime",         double_t, SensorLevels.RECONFIGURE_RUNNING, "Exposure time (us)",   2000.0, 0, 1e6)

Double checked that setting 2000.0 results in 40.96

arv-tool-0.8 control ExposureTime=2000.0
Photoneo-MotionCam-3D Color-TRD-058 (192.168.0.194)
ExposureTime = 40.96 us