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Add a dynamic reconfigure value to not set arbitrarily brightness, co… #94

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Add a dynamic reconfigure value to not set arbitrarily brightness, co… #94

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1 change: 1 addition & 0 deletions cfg/VideoStream.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ gen.add("flip_horizontal", bool_t, LEVEL.NORMAL, "Flip image horizontally", Fals
gen.add("flip_vertical", bool_t, LEVEL.NORMAL, "Flip image vertically", False)
gen.add("width", int_t, LEVEL.RUNNING, "Target width", 0, 0, 10000)
gen.add("height", int_t, LEVEL.RUNNING, "Target height", 0, 0, 10000)
gen.add("set_camera_properties", bool_t, LEVEL.RUNNING, "Set the camera properties (brightness, contrast, hue, saturation)", False)
gen.add("brightness", double_t, LEVEL.RUNNING, "Target brightness", 0.5019607843137255, 0.0, 1.0)
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This could be better if it is "Target brightness (Available only when set_camera_properties is true)".
Same on the "contrast", "hue" and "saturation".

gen.add("contrast", double_t, LEVEL.RUNNING, "Target contrast", 0.12549019607843137, 0.0, 1.0)
gen.add("hue", double_t, LEVEL.RUNNING, "Target hue", 0.5, 0.0, 1.0)
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18 changes: 13 additions & 5 deletions src/video_stream.cpp
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Expand Up @@ -290,11 +290,13 @@ virtual void subscribe() {
cap->set(cv::CAP_PROP_FRAME_HEIGHT, latest_config.height);
}

cap->set(cv::CAP_PROP_BRIGHTNESS, latest_config.brightness);
cap->set(cv::CAP_PROP_CONTRAST, latest_config.contrast);
cap->set(cv::CAP_PROP_HUE, latest_config.hue);
cap->set(cv::CAP_PROP_SATURATION, latest_config.saturation);

if (latest_config.set_camera_properties) {
cap->set(cv::CAP_PROP_BRIGHTNESS, latest_config.brightness);
cap->set(cv::CAP_PROP_CONTRAST, latest_config.contrast);
cap->set(cv::CAP_PROP_HUE, latest_config.hue);
cap->set(cv::CAP_PROP_SATURATION, latest_config.saturation);
}

if (latest_config.auto_exposure) {
cap->set(cv::CAP_PROP_AUTO_EXPOSURE, 0.75);
latest_config.exposure = 0.5;
Expand Down Expand Up @@ -387,6 +389,12 @@ virtual void configCallback(VideoStreamConfig& new_config, uint32_t level) {
NODELET_INFO_STREAM("Flip vertical image is: " << ((new_config.flip_vertical)?"true":"false"));
NODELET_INFO_STREAM("Video start frame is: " << new_config.start_frame);
NODELET_INFO_STREAM("Video stop frame is: " << new_config.stop_frame);
NODELET_INFO_STREAM("set_camera_properties (if False, brightness, contrast, hue and saturation won't be used) is: " << new_config.set_camera_properties);
NODELET_INFO_STREAM("Set brightness is: " << new_config.brightness);
NODELET_INFO_STREAM("Set contrast is: " << new_config.contrast);
NODELET_INFO_STREAM("Set hue is: " << new_config.hue);
NODELET_INFO_STREAM("Set saturation is: " << new_config.saturation);


if (new_config.width != 0 && new_config.height != 0)
{
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