oak - manual exposure time for color (#986)

* config/test-oak-camera.json: add manual exposure

* oak_camera.py: add manual exposure

config/test-oak-camera.json

@@ -17,6 +17,7 @@
             "mono_resolution": "THE_400_P",
             "color_resolution": "THE_1080_P",
             "color_manual_focus": 130,
+            "color_manual_exposure": null,
 
             "stereo_median_filter": "KERNEL_3x3",
             "stereo_mode": "HIGH_ACCURACY",

osgar/drivers/oak_camera.py

@@ -47,7 +47,8 @@ def __init__(self, config, bus):
         self.is_left_right_check = config.get("stereo_left_right_check", False)
         assert not(self.is_extended_disparity and self.is_subpixel)  # Do not use extended_disparity and subpixel together.
 
-        self.color_manual_focus = config.get("color_manual_focus")
+        self.color_manual_focus = config.get("color_manual_focus")  # 0..255 [far..near]
+        self.color_manual_exposure = config.get("color_manual_exposure")  # 1..33000 [us]
 
         mono_resolution_value = config.get("mono_resolution", "THE_400_P")
         assert mono_resolution_value in ["THE_400_P", "THE_480_P", "THE_720_P", "THE_800_P"], mono_resolution_value
@@ -93,6 +94,8 @@ def run_input(self):
             # https://docs.luxonis.com/projects/api/en/latest/samples/StereoDepth/rgb_depth_aligned/
             if self.color_manual_focus is not None:
                 color.initialControl.setManualFocus(self.color_manual_focus)
+            if self.color_manual_exposure is not None:
+                color.initialControl.setManualExposure(self.color_manual_exposure, 100)  # exposure time and ISO
 
             color_encoder.setDefaultProfilePreset(self.fps, dai.VideoEncoderProperties.Profile.MJPEG)