Locking Camera Frame Rate

[Aaron Porter]

Question about the frame rate on the voxl cameras. Is there a way to get voxl-camera-server to lock the frame rate regardless of the Exposure? We noticed that auto exposure will cause the camera frame rate to lower on cameras that are in darker locations compared to the cameras that are located in brighter areas. Just asking if there is a way to make it so that we can have a consistent frame rate regardless of where the camera is looking and the lighting in those areas?

Thank you,
Aaron Porter

[Alex Kushleyev]

@Aaron-Porter ,

Are you asking about a specific camera? (which one)

In general, you should not specify max exposure (in camera server config) which exceeds 1/fps. This can be often overlooked, so we recently added a check that enforces maximum exposure to be slightly less than 1/fps : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/aa3ce587f6be769e1b07edf57f66e1eec40d4644

However, in some special cases, there may be other limitations. One case that I know of is the synced AR0144 at 30fps has a maximum exposure of less than half of 1/fps, otherwise it will skip frames, so our defaults for AR0144 are set to have 12ms maximum exposure. Also, you don't want to set the exposure too high for tracking cameras, since you will get too much motion blur.

Alex