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mobile_robotics
ADC
external
libuvc_ros
Commits
e93697b5
Commit
e93697b5
authored
Apr 13, 2015
by
root
Browse files
add new parameters in cfg
parent
5ef11b9b
Changes
2
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libuvc_camera/CMakeLists.txt
View file @
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
...
...
libuvc_camera/src/camera_driver.cpp
View file @
e93697b5
...
...
@@ -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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