Allow config exposure change

components/rgbd-sources/src/sources/stereovideo/pylon.cpp

@@ -96,6 +96,15 @@ PylonDevice::PylonDevice(nlohmann::json &config)
 	left_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
 	right_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
 	hres_hm_ = cv::cuda::HostMem(fullheight_, fullwidth_, CV_8UC4);
+
+	on("exposure", [this](const ftl::config::Event &e) {
+		if (lcam_->GetDeviceInfo().GetModelName() != "Emulation") {
+			lcam_->ExposureTime.SetValue(value("exposure", 24000.0f));  // Exposure time in microseconds
+		}
+		if (rcam_ && rcam_->GetDeviceInfo().GetModelName() != "Emulation") {
+			rcam_->ExposureTime.SetValue(value("exposure", 24000.0f));  // Exposure time in microseconds
+		}
+	});
 }
 
 PylonDevice::~PylonDevice() {
@@ -149,7 +158,7 @@ void PylonDevice::_configureCamera(CBaslerUniversalInstantCamera *cam) {
 
 	if (cam->GetDeviceInfo().GetModelName() != "Emulation") {
 		// Emulated device throws exception with these
-		cam->ExposureTime.SetValue(24000.0f);  // Exposure time in microseconds
+		cam->ExposureTime.SetValue(value("exposure", 24000.0f));  // Exposure time in microseconds
 		cam->LightSourcePreset.SetValue(Basler_UniversalCameraParams::LightSourcePreset_Tungsten2800K);  // White balance option
 	}
 }