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stereo_camera: Fix usage of automatically adjusted parameters #141

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Merged
benthie merged 1 commit into from
Jun 30, 2025
Merged

stereo_camera: Fix usage of automatically adjusted parameters #141

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4 changes: 4 additions & 0 deletions ensenso_camera/src/stereo_camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,6 +276,10 @@ void StereoCamera::onRequestData(ensenso::action::RequestDataGoalConstPtr const&
loadParameterSet(goal->parameter_set, computeDisparityMap ? projectorOn : projectorOff);
ensenso::ros::Time imageTimestamp = capture();

// Auto values like auto exposure might have changed. Save the parameters so that the updated values are used when
// capturing the next time.
saveParameterSet(goal->parameter_set, false);

PREEMPT_ACTION_IF_REQUESTED

feedback.images_acquired = true;
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