From 7f8159d7a8ae432f951d2adc7869b648bf2f1597 Mon Sep 17 00:00:00 2001
From: Diego Freitas <diego-xbm@hotmail.com>
Date: Tue, 5 May 2026 16:49:36 -0300
Subject: [PATCH] pequenos ajustes

---
 Python/OAK/datasets/oak-fcc-3/_0_capture.py   |  2 +-
 .../oak-fcc-3/calibration/module_params.json  |  8 ++++----
 .../oak-fcc-3/core/oak_fcc3_manager.py        | 19 +++++++++++++++++++
 .../utils/sensor_calibration_tool.py          |  4 +++-
 4 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/Python/OAK/datasets/oak-fcc-3/_0_capture.py b/Python/OAK/datasets/oak-fcc-3/_0_capture.py
index 3fbccd191..036afdc12 100644
--- a/Python/OAK/datasets/oak-fcc-3/_0_capture.py
+++ b/Python/OAK/datasets/oak-fcc-3/_0_capture.py
@@ -179,7 +179,7 @@ def main():
     print("============================================")
 
     beauty_preview = False
-    radiometric_ae = True
+    radiometric_ae = False
     auto_save = False
     last_auto_t = 0.0
     preview_upscale = args.preview_upscale
diff --git a/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json b/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json
index ec8c27d67..3e0bb0f98 100644
--- a/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json
+++ b/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json
@@ -12,8 +12,8 @@
     "rgb": {
       "ae_enable": false,
       "awb_enable": false,
-      "exposure_time_us": 20000,
-      "analogue_gain": 1.2100000000000002,
+      "exposure_time_us": 3000,
+      "analogue_gain": 1.21,
       "colour_gains": [
         1.0,
         1.0
@@ -22,14 +22,14 @@
     "re": {
       "ae_enable": false,
       "awb_enable": false,
-      "exposure_time_us": 20000,
+      "exposure_time_us": 5000,
       "analogue_gain": 1.0,
       "colour_gains": null
     },
     "nir": {
       "ae_enable": false,
       "awb_enable": false,
-      "exposure_time_us": 20000,
+      "exposure_time_us": 3000,
       "analogue_gain": 1.0,
       "colour_gains": null
     }
diff --git a/Python/OAK/datasets/oak-fcc-3/core/oak_fcc3_manager.py b/Python/OAK/datasets/oak-fcc-3/core/oak_fcc3_manager.py
index b72417480..008a6ffa6 100644
--- a/Python/OAK/datasets/oak-fcc-3/core/oak_fcc3_manager.py
+++ b/Python/OAK/datasets/oak-fcc-3/core/oak_fcc3_manager.py
@@ -18,6 +18,7 @@ class OakFcc3Manager:
         sync_mode="best",
         sync_tolerance_ms=12.0,
         buffer_size=8,
+        only_camera=None
     ):
         self.fps = fps
         self.width = width
@@ -28,6 +29,7 @@ class OakFcc3Manager:
         self.output_dtype = output_dtype
         self.capture_mode = capture_mode
         self.raw_policy = raw_policy
+        self.only_camera = only_camera
 
         self.roles = roles or {
             "CAM_A": "rgb",
@@ -97,11 +99,15 @@ class OakFcc3Manager:
         for f in features:
             socket = f.socket
             socket_name = socket.name
+            if self.only_camera is not None and socket_name != self.only_camera:
+                continue
+
             role = self.roles.get(socket_name, "unknown")
 
             print(f"[OAK] Criando câmera {socket_name} sensor={f.sensorName} role={role}")
 
             cam = self.pipeline.create(dai.node.Camera).build(socket)
+            self.apply_initial_camera_controls_to_node(cam, socket_name)
             ctrl_q = cam.inputControl.createInputQueue()
 
             if self._is_preview_mode():
@@ -518,6 +524,19 @@ class OakFcc3Manager:
 
         return result
 
+    def apply_initial_camera_controls_to_node(self, cam, cam_id):
+        ctrl_state = self.camera_controls.get(cam_id, {})
+
+        ae = bool(ctrl_state.get("ae_enable", False))
+        exp_us = int(ctrl_state.get("exposure_time_us") or 15000)
+        gain = float(ctrl_state.get("analogue_gain") or 1.0)
+
+        if not ae:
+            cam.initialControl.setManualExposure(
+                exp_us,
+                self._gain_to_iso(gain)
+            )
+
     def _send_control(self, cam_id, ctrl):
         if cam_id not in self.control_queues:
             raise RuntimeError(f"Fila de controle não existe para {cam_id}")
diff --git a/Python/OAK/datasets/oak-fcc-3/utils/sensor_calibration_tool.py b/Python/OAK/datasets/oak-fcc-3/utils/sensor_calibration_tool.py
index cb28b619c..1701248fe 100644
--- a/Python/OAK/datasets/oak-fcc-3/utils/sensor_calibration_tool.py
+++ b/Python/OAK/datasets/oak-fcc-3/utils/sensor_calibration_tool.py
@@ -889,6 +889,7 @@ def main():
     parser.add_argument("--mock_nir", default="", help="Imagem mock para role nir")
     parser.add_argument("--offline_sample_json", default="", help="JSON de sample salvo para análise offline")
     parser.add_argument("--offline_save_dir", default="calibration/offline_samples", help="Pasta para salvar frames brutos offline")
+    parser.add_argument("--only_camera", default=None, choices=["CAM_A", "CAM_B", "CAM_C"])
     args = parser.parse_args()
 
     cam = MultiSpectralClient(
@@ -901,7 +902,8 @@ def main():
         capture_mode=args.capture_mode,
         raw_policy=args.raw_policy,
         module_calibration_json=None,
-        radiometric_enabled=True,
+        radiometric_enabled=False,
+        only_camera=args.only_camera,
     )
 
     offline_mode = bool(args.offline_sample_json)