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feat(camera): add manual exposure, gain, and white balance options for RealSense cameras (#4130)

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* feat(camera): add manual exposure, gain, and white balance options for RealSense cameras

The RealSense camera integration lacked sensor-level controls, causing
issues like unstable lighting from auto-exposure hunting. This adds
optional `exposure`, `gain`, and `white_balance` fields to
RealSenseCameraConfig that disable the corresponding auto modes and
apply fixed values when set.

* fix: support D405 stereo module for sensor options

D405 exposes color stream via "Stereo Module", not "RGB Camera".
Fall back to Stereo Module when RGB Camera is not found.

* test(camera): add unit tests + range-aware errors for RealSense sensor options

Address PR #3220 review:
- Wrap set_option calls; re-raise ValueError with option name, value,
  and sensor.get_option_range() diagnostics on out-of-range values.
- Add unit tests for _get_color_sensor (RGB Camera, D405 Stereo Module
  fallback, diagnostic error) and _configure_sensor_options (no-op,
  all values, unsupported warns, partial config, out-of-range raise).

* fix(realsense): validate manual color controls

* refactor(camera): apply feedback

---------

Co-authored-by: Lev Kozlov <kozlov.l.a10@gmail.com>
This commit is contained in:
Steven Palma
2026-07-28 13:41:09 +02:00
committed by GitHub
parent 23f6d5dabd
commit 00c25c65c2
4 changed files with 385 additions and 3 deletions
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docs/source/cameras.mdx
+13
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@@ -136,6 +136,10 @@ config = RealSenseCameraConfig(
height=480,
color_mode=ColorMode.RGB,
use_depth=True,
# Optional fixed color controls. Omit them to leave the current sensor settings unchanged.
exposure=120,
gain=64,
white_balance=4600,
rotation=Cv2Rotation.NO_ROTATION
)
@@ -154,6 +158,15 @@ finally:
```
<!-- prettier-ignore-end -->
Manual color controls disable the corresponding automatic exposure or white-balance mode. Their
supported ranges vary by camera model; an invalid value raises an error at connection time that
includes the range reported by the sensor. Requesting an unsupported control also raises an error.
Omitted controls leave the sensor's existing automatic or manual setting unchanged. These options
require `use_rgb=True`.
On the RealSense D405, the color stream is provided by the Stereo Module, so changing manual
exposure or gain also affects the depth stream.
</hfoption>
</hfoptions>