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

add new parameters in cfg

libuvc_camera/CMakeLists.txt

@@ -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

libuvc_camera/src/camera_driver.cpp

@@ -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