From 7fcfc78dd03beb4a68f7fd148ce63cfae178a7ce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Fri, 8 May 2015 09:56:42 +0000
Subject: [PATCH] Added the configuration of the shutter, gain and white
balance in the constructor. Added the shutter, gain and white balance
configuration to the launch file.
---
cfg/FirewireCamera.cfg | 6 +++---
launch/firewire.launch | 12 ++++++++----
src/firewire_camera_driver.cpp | 7 +++++++
3 files changed, 18 insertions(+), 7 deletions(-)
diff --git a/cfg/FirewireCamera.cfg b/cfg/FirewireCamera.cfg
index 7a78023..3a19b37 100755
--- a/cfg/FirewireCamera.cfg
+++ b/cfg/FirewireCamera.cfg
@@ -61,14 +61,14 @@ gen.add("Left_offset", int_t, SensorLevels.RECONFIGURE_STOP, "
gen.add("Top_offset", int_t, SensorLevels.RECONFIGURE_STOP, "Desired top offset in pixels", 0, 0, 2048)
gen.add("Framerate", double_t, SensorLevels.RECONFIGURE_STOP, "Desired framerate in frames per second", 50,1.875 ,200)
gen.add("Color_coding", int_t, SensorLevels.RECONFIGURE_STOP, "Desired color coding", 0, 0, 7, edit_method=enum_color_coding)
-gen.add("White_balance_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable white balance feature", False)
+gen.add("White_balance_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable white balance feature", True)
gen.add("White_balance_mode", int_t, SensorLevels.RECONFIGURE_STOP, "White balance mode", 0, 0, 1, edit_method=enum_mode)
gen.add("White_balance_u_b_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance U/B value", 0, 0, 1023)
gen.add("White_balance_v_r_value", int_t, SensorLevels.RECONFIGURE_STOP, "White balance V/R value", 0, 0, 1023)
-gen.add("Shutter_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable shutter feature", False)
+gen.add("Shutter_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable shutter feature", True)
gen.add("Shutter_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Shutter_value", int_t, SensorLevels.RECONFIGURE_STOP, "Shutter value", 0, 28, 4095)
-gen.add("Gain_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable gain feature", False)
+gen.add("Gain_enabled", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable gain feature", True)
gen.add("Gain_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Gain mode", 0, 0, 1, edit_method=enum_mode)
gen.add("Gain_value", int_t, SensorLevels.RECONFIGURE_STOP, "Gain value", 0, 48, 730)
import roslib; roslib.load_manifest(PACKAGE)
diff --git a/launch/firewire.launch b/launch/firewire.launch
index 07b8694..60463aa 100755
--- a/launch/firewire.launch
+++ b/launch/firewire.launch
@@ -13,16 +13,20 @@
output="screen">
<remap from="/bumblebee/camera_image"
to="/sensors/head_right/image_raw"/>
- <param name="Camera_node" value="0" />
+ <!--<param name="Camera_node" value="0" />-->
<!--<param name="Camera_serial" value="00b09d01006b6fb5" />-->
+ <param name="Camera_serial" value="00b09d0100a96262" />
<param name="frame_id" value="bumblebee_right" type="string" />
<!-- set calibration file -->
<param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
- <param name="ISO_speed" value="800" />
- <param name="Framerate" value="2.5" />
- <param name="Color_coding" value="3" />
+ <param name="ISO_speed" value="400" />
+ <param name="Framerate" value="1.875" />
+ <param name="Color_coding" value="6" />
<param name="Image_width" value="1024" />
<param name="Image_height" value="768" />
+ <param name="Shutter_enabled" value="True"/>
+ <param name="Shutter_mode" value="0" />
+ <param name="Shutter_value" value="10"/>
<param name="~tf_prefix" value="/bumblebee_frame" type="str"/>
</node>
diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp
index d629b9d..254df2a 100644
--- a/src/firewire_camera_driver.cpp
+++ b/src/firewire_camera_driver.cpp
@@ -72,6 +72,13 @@ bool FirewireCameraDriver::openDriver(void)
this->camera=NULL;
return false;
}
+ // white balance feature
+ this->set_white_balance(&this->config_.White_balance_enabled,&this->config_.White_balance_mode,&this->config_.White_balance_u_b_value,
+ &this->config_.White_balance_v_r_value);
+ // shutter feature
+ this->set_shutter(&this->config_.Shutter_enabled,&this->config_.Shutter_mode,&this->config_.Shutter_value);
+ // gain feature
+ this->set_gain(&this->config_.Gain_enabled,&this->config_.Gain_mode,&this->config_.Gain_value);
ROS_INFO("Driver opened");
return true;
}
--
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