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Patch #59

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Patch #59

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26d9dfc
fix rqt_reconfigure crashes
Mar 28, 2019
948ba10
When the video_mode parameter is compressed the node will publish onl…
Mar 29, 2019
8b660b2
Adding reconfigure features
Mar 30, 2019
939a3ef
Compability with indigo
Mar 31, 2019
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1 change: 1 addition & 0 deletions libuvc_camera/include/libuvc_camera/camera_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ class CameraDriver {

image_transport::ImageTransport it_;
image_transport::CameraPublisher cam_pub_;
ros::Publisher compressed_pub_;

dynamic_reconfigure::Server<UVCCameraConfig> config_server_;
UVCCameraConfig config_;
Expand Down
132 changes: 73 additions & 59 deletions libuvc_camera/src/camera_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CompressedImage.h>
#include <std_msgs/Header.h>
#include <image_transport/camera_publisher.h>
#include <dynamic_reconfigure/server.h>
Expand All @@ -51,9 +52,11 @@ CameraDriver::CameraDriver(ros::NodeHandle nh, ros::NodeHandle priv_nh)
ctx_(NULL), dev_(NULL), devh_(NULL), rgb_frame_(NULL),
it_(nh_),
config_server_(mutex_, priv_nh_),
config_(UVCCameraConfig()),
config_changed_(false),
cinfo_manager_(nh) {
cam_pub_ = it_.advertiseCamera("image_raw", 1, false);
compressed_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("image_raw/compressed", 1);
}

CameraDriver::~CameraDriver() {
Expand Down Expand Up @@ -133,6 +136,16 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
PARAM_INT(gain, gain, new_config.gain);
PARAM_INT(iris_absolute, iris_abs, new_config.iris_absolute);
PARAM_INT(brightness, brightness, new_config.brightness);
PARAM_INT(roll_absolute, roll_abs, new_config.roll_absolute);
PARAM_INT(privacy, privacy, new_config.privacy);
PARAM_INT(backlight_compensation, backlight_compensation, new_config.backlight_compensation);
PARAM_INT(contrast, contrast, new_config.contrast);
PARAM_INT(auto_hue, hue_auto, new_config.auto_hue);
PARAM_INT(saturation, saturation, new_config.saturation);
PARAM_INT(sharpness, sharpness, new_config.sharpness);
PARAM_INT(gamma, gamma, new_config.gamma);
PARAM_INT(auto_white_balance, white_balance_temperature_auto, new_config.auto_white_balance);
PARAM_INT(white_balance_temperature, white_balance_temperature_auto, new_config.white_balance_temperature);
#endif


Expand All @@ -143,17 +156,7 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
new_config.tilt_absolute = config_.tilt_absolute;
}
}
// TODO: roll_absolute
// TODO: privacy
// TODO: backlight_compensation
// TODO: contrast
// TODO: power_line_frequency
// TODO: auto_hue
// TODO: saturation
// TODO: sharpness
// TODO: gamma
// TODO: auto_white_balance
// TODO: white_balance_temperature
PARAM_INT(focus_absolute, focus_abs, new_config.focus_absolute);
// TODO: white_balance_BU
// TODO: white_balance_RV
}
Expand All @@ -172,62 +175,73 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
assert(state_ == kRunning);
assert(rgb_frame_);

sensor_msgs::Image::Ptr image(new sensor_msgs::Image());
image->width = config_.width;
image->height = config_.height;
image->step = image->width * 3;
image->data.resize(image->step * image->height);

if (frame->frame_format == UVC_FRAME_FORMAT_BGR){
image->encoding = "bgr8";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_RGB){
image->encoding = "rgb8";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_UYVY) {
image->encoding = "yuv422";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_YUYV) {
// FIXME: uvc_any2bgr does not work on "yuyv" format, so use uvc_yuyv2bgr directly.
uvc_error_t conv_ret = uvc_yuyv2bgr(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
if(config_.video_mode == "compressed") {
if(frame->frame_format == UVC_FRAME_FORMAT_MJPEG) {
sensor_msgs::CompressedImage::Ptr image(new sensor_msgs::CompressedImage());
image->data.resize(frame->data_bytes);
image->format = "jpeg";

memcpy(&(image->data[0]), frame->data, frame->data_bytes);
compressed_pub_.publish(image);
}
image->encoding = "bgr8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
} else {
sensor_msgs::Image::Ptr image(new sensor_msgs::Image());
image->width = config_.width;
image->height = config_.height;
image->step = image->width * 3;
image->data.resize(image->step * image->height);

if (frame->frame_format == UVC_FRAME_FORMAT_BGR){
image->encoding = "bgr8";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_RGB){
image->encoding = "rgb8";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_UYVY) {
image->encoding = "yuv422";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_YUYV) {
// FIXME: uvc_any2bgr does not work on "yuyv" format, so use uvc_yuyv2bgr directly.
uvc_error_t conv_ret = uvc_yuyv2bgr(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
}
image->encoding = "bgr8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
#if libuvc_VERSION > 00005 /* version > 0.0.5 */
} else if (frame->frame_format == UVC_FRAME_FORMAT_MJPEG) {
// Enable mjpeg support despite uvs_any2bgr shortcoming
// https://github.com/ros-drivers/libuvc_ros/commit/7508a09f
uvc_error_t conv_ret = uvc_mjpeg2rgb(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
}
image->encoding = "rgb8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_MJPEG) {
// Enable mjpeg support despite uvs_any2bgr shortcoming
// https://github.com/ros-drivers/libuvc_ros/commit/7508a09f
uvc_error_t conv_ret = uvc_mjpeg2rgb(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
}
image->encoding = "rgb8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
#endif
} else {
uvc_error_t conv_ret = uvc_any2bgr(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
} else {
uvc_error_t conv_ret = uvc_any2bgr(frame, rgb_frame_);
if (conv_ret != UVC_SUCCESS) {
uvc_perror(conv_ret, "Couldn't convert frame to RGB");
return;
}
image->encoding = "bgr8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
}
image->encoding = "bgr8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
}


sensor_msgs::CameraInfo::Ptr cinfo(
new sensor_msgs::CameraInfo(cinfo_manager_.getCameraInfo()));
sensor_msgs::CameraInfo::Ptr cinfo(
new sensor_msgs::CameraInfo(cinfo_manager_.getCameraInfo()));

image->header.frame_id = config_.frame_id;
image->header.stamp = timestamp;
cinfo->header.frame_id = config_.frame_id;
cinfo->header.stamp = timestamp;
image->header.frame_id = config_.frame_id;
image->header.stamp = timestamp;
cinfo->header.frame_id = config_.frame_id;
cinfo->header.stamp = timestamp;

cam_pub_.publish(image, cinfo);
cam_pub_.publish(image, cinfo);
}

if (config_changed_) {
config_server_.updateConfig(config_);
Expand Down