Fix/camera config loading#34
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musyaree wants to merge 2 commits into
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FaaizHaikal
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May 20, 2026
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| for (int i = 0; i < 10; ++i) { | ||
| try { | ||
| camera_node->update(); | ||
| break; | ||
| } catch (const std::exception & e) { | ||
| RCLCPP_WARN(node->get_logger(), "Waiting for camera to be ready..."); | ||
| std::this_thread::sleep_for(100ms); | ||
| } | ||
| } | ||
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| camera_node->load_configuration(path); |
Contributor
There was a problem hiding this comment.
-
Load the configuration first before spinning up the node to avoid uninitialized variables.
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Worst-case scenario, the node will just keep running here even after 10 failures. We should use an
initializedflag to explicitly track if the node is ready, and throw an error/abort if it still fails after the retries.
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| // Get new capture setting from the camera | ||
| new_capture_setting.brightness = video_capture->get(cv::CAP_PROP_BRIGHTNESS); | ||
| new_capture_setting.contrast = video_capture->get(cv::CAP_PROP_CONTRAST); | ||
| new_capture_setting.saturation = video_capture->get(cv::CAP_PROP_SATURATION); | ||
| new_capture_setting.temperature = video_capture->get(cv::CAP_PROP_WB_TEMPERATURE); | ||
| new_capture_setting.exposure = video_capture->get(cv::CAP_PROP_EXPOSURE); | ||
| new_capture_setting.gain = video_capture->get(cv::CAP_PROP_GAIN); | ||
| // Get new capture setting from the camera if they were empty | ||
| if (new_capture_setting.brightness.is_empty()) { | ||
| new_capture_setting.brightness = video_capture->get(cv::CAP_PROP_BRIGHTNESS); | ||
| } | ||
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| if (new_capture_setting.contrast.is_empty()) { | ||
| new_capture_setting.contrast = video_capture->get(cv::CAP_PROP_CONTRAST); | ||
| } | ||
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| if (new_capture_setting.saturation.is_empty()) { | ||
| new_capture_setting.saturation = video_capture->get(cv::CAP_PROP_SATURATION); | ||
| } | ||
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| if (new_capture_setting.temperature.is_empty()) { | ||
| new_capture_setting.temperature = video_capture->get(cv::CAP_PROP_WB_TEMPERATURE); | ||
| } | ||
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| if (new_capture_setting.exposure.is_empty()) { | ||
| new_capture_setting.exposure = video_capture->get(cv::CAP_PROP_EXPOSURE); | ||
| } | ||
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| if (new_capture_setting.gain.is_empty()) { | ||
| new_capture_setting.gain = video_capture->get(cv::CAP_PROP_GAIN); | ||
| } |
Contributor
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Big No-No on this change. We can't guard these with is_empty(). The camera has its own internal value limits and hardware states, so we must always overwrite our local struct with the actual values coming from video_capture->get(). Please put the old logic back.
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Jira Link:
Description
Fix camera config loading when camera starts
Describe problems, if any, clearly and concisely.
Describe any changes that have been made in this pull request.
Type of Change
How Has This Been Tested?
Checklist:
feature/JIRA-ID-SHORT-DESCRIPTIONif has a JIRA ticketenhancement/SHORT-DESCRIPTIONif has/has no JIRA ticket and contain enhancementhotfix/SHORT-DESCRIPTIONif the change doesn't need to be tested (urgent)