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Kinovarobotics / ros_kortex_vision

ROS package for KINOVA® KORTEX™ arms vision module
BSD 3-Clause "New" or "Revised" License
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Setting camera options in the node parameters #24

Open IamPhytan opened 1 month ago

IamPhytan commented 1 month ago

Hello,

I was wondering if there is a way to set the camera options specified in the documentation of the Kortex_API, in the parameters of the Vision Node. This could be interesting in some contexts, where setting the exposure, the saturation, or the gain of the camera may give better images to work with.

martinleroux commented 1 month ago

Hello @IamPhytan ,

This repo focuses on the image acquisition and processing - which is all done outside of Kortex API. Since vision options are operated from the robot/Kortex API, the corresponding calls are found in our robot driver repo.

You can find a vision configuration example here.

IamPhytan commented 1 month ago

Thanks for the reply.

How about adding calls to the Kortex API from the vision node ? The goal would be to self-contain all configurations for the camera.

If it's not possible, is the linked example also available in ROS 2 ? This issue was initially written for the ROS 2 Kortex Vision package. Yet, this package doesn't have issues enabled.

martinleroux commented 1 month ago

The ros2_kortex_vision package is Picknik's repository, not Kinova's, so I can't enable issues

Regarding adding calls to the API for vision, this goes against our design philosophy for the vision module - interacting with the module should be as much like working with a standalone camera as possible, so keeping image acquisition and processing outside of the API is fully intended.