Dynamic Parameters should include VIDEO_SETTINGS.AEC_AGC_ROI

[silegc-xguard]

Preliminary Checks

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• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

The dynamic parameters should include, as in the C++ or Python Zed Wrapper, a way to configure an ROI on which to perform auto_exposure and auto_gain calculation.

For example, in python we would call:
zed.set_camera_settings_roi(sl.VIDEO_SETTINGS.AEC_AGC_ROI, roi)

and in the ROS_WRAPPER we could call something like:
roi = sl.Rect(x, y, w, h)
params = { 'AEC_AGC_ROI' : roi }
dynamic_reconfigure_client.update_configuration(params)

Use-Case

I would like this feature in order to calculate those values on a specific ROI. Since for my use case (depth detection in specific region of the image) this would help reduce exposure and gain influence from the whole image to that specific ROI.

Anything else?

Is there a way to access directly the camera to call set_camera_settings_roi() while the Zed_Wrapper Node is running ? This would provide a temporary fix for this.