From f3976069a053f28e844fca1a2d9f6b29240ad748 Mon Sep 17 00:00:00 2001
From: Ken Tossell <ken@tossell.net>
Date: Fri, 20 Jun 2014 13:23:50 -0400
Subject: [PATCH] Implemented AE priority, abs exposure/focus, autofocus,
pantilt controls
---
libuvc_camera/src/camera_driver.cpp | 32 +++++++++++++++++++----------
1 file changed, 21 insertions(+), 11 deletions(-)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index f973cc0..568582e 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -112,19 +112,29 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
cinfo_manager_.loadCameraInfo(new_config.camera_info_url);
if (state_ == kRunning) {
- // TODO: scanning_mode
- // TODO: auto_exposure
- if (new_config.auto_exposure != config_.auto_exposure) {
- if (uvc_set_ae_mode(devh_, 1 << new_config.auto_exposure))
- ROS_WARN("Unable to set auto_exposure to %d", new_config.auto_exposure);
+#define PARAM_INT(name, fn, value) if (new_config.name != config_.name) { \
+ int val = (value); \
+ if (uvc_set_##fn(devh_, val)) { \
+ ROS_WARN("Unable to set " #name " to %d", val); \
+ new_config.name = config_.name; \
+ } \
}
- // TODO: auto_exposure_priority
- // TODO: exposure_absolute
+
+ PARAM_INT(scanning_mode, scanning_mode, new_config.scanning_mode);
+ 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
- // TODO: auto_focus
- // TODO: focus_absolute
- // TODO: pan_absolute
- // TODO: tilt_absolute
+ PARAM_INT(auto_focus, focus_auto, new_config.auto_focus ? 1 : 0);
+ PARAM_INT(focus_absolute, focus_abs, new_config.focus_absolute);
+
+ 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)) {
+ ROS_WARN("Unable to set pantilt to %d, %d", new_config.pan_absolute, new_config.tilt_absolute);
+ new_config.pan_absolute = config_.pan_absolute;
+ new_config.tilt_absolute = config_.tilt_absolute;
+ }
+ }
// TODO: roll_absolute
// TODO: privacy
// TODO: backlight_compensation
--
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