From 874ab1ea77cff181c94fdc0ff68b80b287a73100 Mon Sep 17 00:00:00 2001
From: Ken Tossell <ken@tossell.net>
Date: Thu, 6 Mar 2014 20:05:48 -0500
Subject: [PATCH] Removed dependency on the deprecated driver_base package.
---
libuvc_camera/CMakeLists.txt | 3 +-
libuvc_camera/cfg/UVCCamera.cfg | 77 ++++++++++---------
.../include/libuvc_camera/camera_driver.h | 5 ++
libuvc_camera/package.xml | 2 -
libuvc_camera/src/camera_driver.cpp | 3 +-
5 files changed, 47 insertions(+), 43 deletions(-)
diff --git a/libuvc_camera/CMakeLists.txt b/libuvc_camera/CMakeLists.txt
index f0bfc35..d769984 100644
--- a/libuvc_camera/CMakeLists.txt
+++ b/libuvc_camera/CMakeLists.txt
@@ -2,7 +2,7 @@
cmake_minimum_required(VERSION 2.8.3)
project(libuvc_camera)
# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager driver_base dynamic_reconfigure image_transport nodelet sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs)
generate_dynamic_reconfigure_options(cfg/UVCCamera.cfg)
@@ -12,7 +12,6 @@ catkin_package(
CATKIN_DEPENDS
roscpp
camera_info_manager
- driver_base
dynamic_reconfigure
image_transport
nodelet
diff --git a/libuvc_camera/cfg/UVCCamera.cfg b/libuvc_camera/cfg/UVCCamera.cfg
index abb9537..efc009f 100755
--- a/libuvc_camera/cfg/UVCCamera.cfg
+++ b/libuvc_camera/cfg/UVCCamera.cfg
@@ -2,32 +2,35 @@
# Derived from camera1394 cfg
from dynamic_reconfigure.parameter_generator_catkin import *
-from driver_base.msg import SensorLevels
+
+RECONFIGURE_CLOSE = 3 # Parameters that need a sensor to be stopped completely when changed
+RECONFIGURE_STOP = 1 # Parameters that need a sensor to stop streaming when changed
+RECONFIGURE_RUNNING = 0 # Parameters that can be changed while a sensor is streaming
gen = ParameterGenerator()
# Name, Type, Reconfiguration level, Description, Default, Min, Max
-gen.add("vendor", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("vendor", str_t, RECONFIGURE_CLOSE,
"Vendor ID, hex digits (use camera of any vendor if null).",
"")
-gen.add("product", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("product", str_t, RECONFIGURE_CLOSE,
"Product ID, hex digits (use camera of any model if null).",
"")
-gen.add("serial", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("serial", str_t, RECONFIGURE_CLOSE,
"Serial number, arbitrary string (use camera of any serial number if null).",
"")
-gen.add("index", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("index", int_t, RECONFIGURE_CLOSE,
"Index into the list of cameras that match the above parameters.",
0, 0)
-gen.add("width", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("width", int_t, RECONFIGURE_CLOSE,
"Image width.", 640, 0)
-gen.add("height", int_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("height", int_t, RECONFIGURE_CLOSE,
"Image height.", 480, 0)
video_modes = gen.enum([gen.const("uncompressed", str_t, "uncompressed", "Use any uncompressed format"),
@@ -37,11 +40,11 @@ video_modes = gen.enum([gen.const("uncompressed", str_t, "uncompressed", "Use an
gen.const("jpeg", str_t, "jpeg", "JPEG/MJPEG")],
"Video stream format")
-gen.add("video_mode", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("video_mode", str_t, RECONFIGURE_CLOSE,
"Format of video stream from camera.", "uncompressed",
edit_method = video_modes)
-gen.add("frame_rate", double_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("frame_rate", double_t, RECONFIGURE_CLOSE,
"Camera speed, frames per second.", 15.0, 0.1, 1000.0)
timestamp_methods = gen.enum([gen.const("PubTime", str_t, "pub", "Time of publication"),
@@ -50,15 +53,15 @@ timestamp_methods = gen.enum([gen.const("PubTime", str_t, "pub", "Time of public
gen.const("HostReceiptTime", str_t, "hostrcpt", "Time when camera-to-host transfer completed")],
"Methods for determining the timestamp")
-gen.add("timestamp_method", str_t, SensorLevels.RECONFIGURE_CLOSE,
+gen.add("timestamp_method", str_t, RECONFIGURE_CLOSE,
"Method for determining the timestamp.", "start",
edit_method = timestamp_methods)
-gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("frame_id", str_t, RECONFIGURE_RUNNING,
"ROS tf frame of reference, resolved with tf_prefix unless absolute.",
"camera")
-gen.add("camera_info_url", str_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("camera_info_url", str_t, RECONFIGURE_RUNNING,
"Path to camera calibration file.", "")
# Camera Terminal controls
@@ -67,7 +70,7 @@ scanning_modes = gen.enum([gen.const("Interlaced", int_t, 0, ""),
gen.const("Progressive", int_t, 1, "")],
"Scanning modes")
-gen.add("scanning_mode", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("scanning_mode", int_t, RECONFIGURE_RUNNING,
"Scanning mode.", 0, 0, 1,
edit_method = scanning_modes)
@@ -77,64 +80,64 @@ auto_exposure_modes = gen.enum([gen.const("Manual", int_t, 0, "Manual exposure,
gen.const("Aperture_Priority", int_t, 3, "auto exposure, manual iris")],
"Auto-exposure modes")
-gen.add("auto_exposure", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_exposure", int_t, RECONFIGURE_RUNNING,
"Auto exposure mode.",
1, 0, 3, edit_method = auto_exposure_modes)
-gen.add("auto_exposure_priority", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_exposure_priority", int_t, RECONFIGURE_RUNNING,
"In auto mode or shutter priority mode, allow the device to vary frame rate.",
0, 0, 1)
-gen.add("exposure_absolute", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("exposure_absolute", double_t, RECONFIGURE_RUNNING,
"Length of exposure, seconds.", 0., 0.0001, 10.0)
# TODO: relative exposure time
-gen.add("iris_absolute", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("iris_absolute", double_t, RECONFIGURE_RUNNING,
"Aperture, f.", 0., 0., 655.35)
# TODO: relative iris
-gen.add("auto_focus", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_focus", bool_t, RECONFIGURE_RUNNING,
"Maintain focus automatically.", False)
-gen.add("focus_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("focus_absolute", int_t, RECONFIGURE_RUNNING,
"Absolute focal distance, millimeters.", 0, 0, 65536)
# TODO: relative focus
# TODO: zoom
-gen.add("pan_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("pan_absolute", int_t, RECONFIGURE_RUNNING,
"Pan (clockwise), arc seconds.", 0, -180*3600, 180*3600)
-gen.add("tilt_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("tilt_absolute", int_t, RECONFIGURE_RUNNING,
"Tilt (up), arc seconds.", 0, -180*3600, 180*3600)
# TODO: relative pan/tilt
-gen.add("roll_absolute", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("roll_absolute", int_t, RECONFIGURE_RUNNING,
"Roll (clockwise), degrees.", 0, -180, 180)
# TODO: relative roll
-gen.add("privacy", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("privacy", bool_t, RECONFIGURE_RUNNING,
"Image capture disabled.", False)
# Processing Unit controls
-gen.add("backlight_compensation", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("backlight_compensation", int_t, RECONFIGURE_RUNNING,
"Backlight compensation, device-dependent (zero for none, increasing compensation above zero).",
0, 0, 65536)
-gen.add("brightness", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("brightness", int_t, RECONFIGURE_RUNNING,
"Brightness, device dependent.", 0, -32768, 32767)
-gen.add("contrast", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("contrast", int_t, RECONFIGURE_RUNNING,
"Contrast, device dependent.", 0, -32768, 32767)
-gen.add("gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("gain", int_t, RECONFIGURE_RUNNING,
"Gain, device dependent.", 0, 0, 65536)
power_line_frequency_modes = gen.enum([gen.const("Disabled", int_t, 0, "Disabled"),
@@ -142,39 +145,39 @@ power_line_frequency_modes = gen.enum([gen.const("Disabled", int_t, 0, "Disabled
gen.const("Freq_60", int_t, 1, "60 Hz")],
"Power line frequency modes")
-gen.add("power_line_frequency", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("power_line_frequency", int_t, RECONFIGURE_RUNNING,
"Power line frequency anti-flicker processing.",
0, 0, 2,
edit_method = power_line_frequency_modes)
-gen.add("auto_hue", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_hue", bool_t, RECONFIGURE_RUNNING,
"Automatic hue control.", False)
-gen.add("hue", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("hue", double_t, RECONFIGURE_RUNNING,
"Hue, degrees.", 0., -180., 180.)
-gen.add("saturation", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("saturation", int_t, RECONFIGURE_RUNNING,
"Saturation, device dependent (zero for grayscale).", 0, 0, 65536)
-gen.add("sharpness", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("sharpness", int_t, RECONFIGURE_RUNNING,
"Image sharpness, device dependent.",
0, 0, 65536)
# TODO: check range definition
-gen.add("gamma", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("gamma", double_t, RECONFIGURE_RUNNING,
"Gamma.", 1.0, 0.01, 5.0)
-gen.add("auto_white_balance", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("auto_white_balance", bool_t, RECONFIGURE_RUNNING,
"Automatic white balance.", False)
-gen.add("white_balance_temperature", int_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_temperature", int_t, RECONFIGURE_RUNNING,
"White balance temperature, degrees.", 0, 0, 65536)
-gen.add("white_balance_BU", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_BU", double_t, RECONFIGURE_RUNNING,
"Blue or U component of white balance, device-dependent.",
0, 0, 65536)
-gen.add("white_balance_RV", double_t, SensorLevels.RECONFIGURE_RUNNING,
+gen.add("white_balance_RV", double_t, RECONFIGURE_RUNNING,
"Red or V component of white balance, device-dependent.",
0, 0, 65536)
diff --git a/libuvc_camera/include/libuvc_camera/camera_driver.h b/libuvc_camera/include/libuvc_camera/camera_driver.h
index ea6cb6f..9be85c7 100644
--- a/libuvc_camera/include/libuvc_camera/camera_driver.h
+++ b/libuvc_camera/include/libuvc_camera/camera_driver.h
@@ -28,6 +28,11 @@ private:
kRunning = 2,
};
+ // Flags controlling whether the sensor needs to be stopped (or reopened) when changing settings
+ static const int kReconfigureClose = 3; // Need to close and reopen sensor to change this setting
+ static const int kReconfigureStop = 1; // Need to stop the stream before changing this setting
+ static const int kReconfigureRunning = 0; // We can change this setting without stopping the stream
+
void OpenCamera(UVCCameraConfig &new_config);
void CloseCamera();
diff --git a/libuvc_camera/package.xml b/libuvc_camera/package.xml
index e63a29d..5c387e6 100644
--- a/libuvc_camera/package.xml
+++ b/libuvc_camera/package.xml
@@ -35,7 +35,6 @@
<!-- <build_depend>message_generation</build_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>camera_info_manager</build_depend>
- <build_depend>driver_base</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>libuvc</build_depend>
@@ -48,7 +47,6 @@
<!-- <run_depend>message_runtime</run_depend> -->
<run_depend>roscpp</run_depend>
<run_depend>camera_info_manager</run_depend>
- <run_depend>driver_base</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>libuvc</run_depend>
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index 04bffed..f973cc0 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -38,7 +38,6 @@
#include <std_msgs/Header.h>
#include <image_transport/camera_publisher.h>
#include <dynamic_reconfigure/server.h>
-#include <dynamic_reconfigure/SensorLevels.h>
#include <libuvc/libuvc.h>
namespace libuvc_camera {
@@ -100,7 +99,7 @@ void CameraDriver::Stop() {
void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t level) {
boost::recursive_mutex::scoped_lock(mutex_);
- if (level & dynamic_reconfigure::SensorLevels::RECONFIGURE_CLOSE) {
+ if ((level & kReconfigureClose) == kReconfigureClose) {
if (state_ == kRunning)
CloseCamera();
}
--
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