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Initial commit for See3cam_cu130 #6

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Initial commit for See3cam_cu130 #6

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12 changes: 6 additions & 6 deletions src/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,11 +56,11 @@ Camera::Camera(ros::NodeHandle _comm_nh, ros::NodeHandle _param_nh) :
exposure_pub = node.advertise<std_msgs::Float64>("exposure", 1, true);

/* initialize the cameras */
cam = new uvc_cam::Cam(device.c_str(), uvc_cam::Cam::MODE_BAYER, width, height, fps);
cam = new uvc_cam::Cam(device.c_str(), uvc_cam::Cam::MODE_YUYV, width, height, fps);
//cam->set_motion_thresholds(100, -1);
cam->set_control(0x009a0901, 1); // exposure, auto (0 = auto, 1 = manual)
cam->set_control(0x00980900, 8); // brightness
cam->set_control(0x9a0902, 78); // exposure time 15.6ms
cam->set_control(0x009a0901, 0); // exposure, auto (0 = auto, 1 = manual)
cam->set_control(0x00980900, 0); // brightness
// cam->set_control(0x9a0902, 78); // exposure time 15.6ms
std_msgs::Float64 exposure_msg;
exposure_msg.data=7.8 * 0.5;
exposure_pub.publish( exposure_msg );
Expand Down Expand Up @@ -127,8 +127,8 @@ Camera::Camera(ros::NodeHandle _comm_nh, ros::NodeHandle _param_nh) :

image->height = height;
image->width = width;
image->step = width;
image->encoding = image_encodings::BAYER_GRBG8;
image->step = width * 2;
image->encoding = image_encodings::YUV422;

image->header.stamp = capture_time;
image->header.seq = pair_id;
Expand Down