From f3f1d11f9b48a032b727a46912ea410400a98f85 Mon Sep 17 00:00:00 2001
From: 23-yoshikawa <yoshikawa.h.ah@m.titech.ac.jp>
Date: Mon, 26 Aug 2024 00:06:52 +0900
Subject: [PATCH] confirm exposure time

---
 device/camera_reader/camera_reader/camera.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/device/camera_reader/camera_reader/camera.py b/device/camera_reader/camera_reader/camera.py
index 0536ce0..5d6bc83 100644
--- a/device/camera_reader/camera_reader/camera.py
+++ b/device/camera_reader/camera_reader/camera.py
@@ -38,6 +38,9 @@ def _generate_header(self) -> Header:
     def timer_callback(self):
         ret, frame = self.cap.read()
         if ret:
+            exposure_time = self.cap.get(cv2.CAP_PROP_EXPOSURE)
+            if exposure_time >= 0:
+                self.get_logger().info(f"Exposure time: {exposure_time}")
             msg = self.bridge.cv2_to_compressed_imgmsg(frame)
             msg.header = self._generate_header()
             self.publisher_.publish(msg)