| 233 | cameraControlQueueNames = [] |
| 234 | if args.white_balance or args.exposure or args.sensitivity: |
| 235 | def create_rgb_camera_control(colorCameraNode): |
| 236 | controlName = f"control_{len(cameraControlQueueNames)}" |
| 237 | cameraControlQueueNames.append(controlName) |
| 238 | controlIn = pipeline.create(depthai.node.XLinkIn) |
| 239 | controlIn.setStreamName(controlName) |
| 240 | controlIn.out.link(colorCameraNode.inputControl) |
| 241 | if vio_pipeline.colorLeft: create_rgb_camera_control(vio_pipeline.colorLeft) |
| 242 | if vio_pipeline.colorRight: create_rgb_camera_control(vio_pipeline.colorRight) |
| 243 | if vio_pipeline.monoLeft: create_rgb_camera_control(vio_pipeline.monoLeft) |