Commit 745c3f20 authored by Ken Tossell's avatar Ken Tossell
Browse files

Merge pull request #21 from shadow-robot/F#42_change_cam_params

add new parameters in cfg
parents 5ef11b9b e93697b5
......@@ -19,19 +19,19 @@ catkin_package(
LIBRARIES libuvc_camera_nodelet
)
include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${libuvc_INCLUDE_DIRS})
include_directories(include ${libuvc_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
link_directories(${catkin_LINK_DIRS})
find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIRS})
add_executable(camera_node src/main.cpp src/camera_driver.cpp)
target_link_libraries(camera_node ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${libuvc_LIBRARIES})
target_link_libraries(camera_node ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(camera_node ${PROJECT_NAME}_gencfg)
add_library(libuvc_camera_nodelet src/nodelet.cpp src/camera_driver.cpp)
add_dependencies(libuvc_camera_nodelet ${libuvc_camera_EXPORTED_TARGETS})
target_link_libraries(libuvc_camera_nodelet ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${libuvc_LIBRARIES})
target_link_libraries(libuvc_camera_nodelet ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(libuvc_camera_nodelet ${PROJECT_NAME}_gencfg)
install(TARGETS camera_node libuvc_camera_nodelet
......
......@@ -124,9 +124,12 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
PARAM_INT(auto_exposure, ae_mode, 1 << new_config.auto_exposure);
PARAM_INT(auto_exposure_priority, ae_priority, new_config.auto_exposure_priority);
PARAM_INT(exposure_absolute, exposure_abs, new_config.exposure_absolute * 10000);
// TODO: iris_absolute
PARAM_INT(auto_focus, focus_auto, new_config.auto_focus ? 1 : 0);
PARAM_INT(focus_absolute, focus_abs, new_config.focus_absolute);
PARAM_INT(gain, gain, new_config.gain);
PARAM_INT(iris_absolute, iris_abs, new_config.iris_absolute);
PARAM_INT(brightness, brightness, new_config.brightness);
if (new_config.pan_absolute != config_.pan_absolute || new_config.tilt_absolute != config_.tilt_absolute) {
if (uvc_set_pantilt_abs(devh_, new_config.pan_absolute, new_config.tilt_absolute)) {
......@@ -138,9 +141,7 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
// TODO: roll_absolute
// TODO: privacy
// TODO: backlight_compensation
// TODO: brightness
// TODO: contrast
// TODO: gain
// TODO: power_line_frequency
// TODO: auto_hue
// TODO: saturation
......
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