Disabling hdr while updating exposure & gain values

README.md

@@ -531,7 +531,10 @@ The following post processing filters are available:
     * The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `pointcloud.allow_no_texture_points` to true.
     * pointcloud is of an unordered format by default. This can be changed by setting `pointcloud.ordered_pc` to true.
  - ```hdr_merge```: Allows depth image to be created by merging the information from 2 consecutive frames, taken with different exposure and gain values.
+  - `depth_module.hdr_enabled`: to enable/disable HDR
   - The way to set exposure and gain values for each sequence in runtime is by first selecting the sequence id, using the `depth_module.sequence_id` parameter and then modifying the `depth_module.gain`, and `depth_module.exposure`.
+    - From FW versions 5.14.x.x and above, if HDR is enabled, the preset configs (like exposure, gain, etc.,) cannot be updated.
+    - The user should disable the HDR first using `depth_module.hdr_enabled` parameter and then, update the required presets.
   - To view the effect on the infrared image for each sequence id use the `filter_by_sequence_id.sequence_id` parameter.
   - To initialize these parameters in start time use the following parameters:
     - `depth_module.exposure.1`

realsense2_camera/src/ros_sensor.cpp

@@ -102,6 +102,15 @@ void RosSensor::UpdateSequenceIdCallback()
     if (!supports(RS2_OPTION_SEQUENCE_ID))
         return;
 
+    bool is_hdr_enabled = static_cast<bool>(get_option(RS2_OPTION_HDR_ENABLED));
+
+    // From FW version 5.14.x.x, if HDR is enabled, updating UVC controls like exposure, gain , etc are restricted.
+    // So, disable it before updating.
+    if (is_hdr_enabled)
+    {
+        set_option(RS2_OPTION_HDR_ENABLED, false);
+    }
+
     int original_seq_id = static_cast<int>(get_option(RS2_OPTION_SEQUENCE_ID));   // To Set back to default.
     std::string module_name = create_graph_resource_name(rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)));
 
@@ -147,6 +156,11 @@ void RosSensor::UpdateSequenceIdCallback()
         return;
     }
 
+    if (is_hdr_enabled)
+    {
+        set_option(RS2_OPTION_HDR_ENABLED, true);
+    }
+
 }
 
 void RosSensor::set_sensor_parameter_to_ros(rs2_option option)