/** Open the camera device.
*
* @param newconfig configuration parameters
* @return true, if successful
*
* if successful:
* state_ is Driver::OPENED
* camera_name_ set to camera_name string
*/
bool openCamera(Config &newconfig)
{
bool success = true;
try
{
ROS_INFO("opening uvc_cam at %dx%d, %f fps", newconfig.width, newconfig.height, newconfig.frame_rate);
uvc_cam::Cam::mode_t mode = uvc_cam::Cam::MODE_RGB;
switch (newconfig.format_mode) {
case 1:
mode = uvc_cam::Cam::MODE_RGB;
case 2:
mode = uvc_cam::Cam::MODE_YUYV;
case 3:
mode = uvc_cam::Cam::MODE_MJPG;
default:
mode = uvc_cam::Cam::MODE_RGB;
}
cam_ = new uvc_cam::Cam(newconfig.device.c_str(), mode, newconfig.width, newconfig.height, newconfig.frame_rate);
if (camera_name_ != camera_name_)
{
camera_name_ = camera_name_;
if (!cinfo_.setCameraName(camera_name_))
{
// GUID is 16 hex digits, which should be valid.
// If not, use it for log messages anyway.
ROS_WARN_STREAM("[" << camera_name_ << "] name not valid"
<< " for camera_info_manger");
}
}
// ROS_INFO_STREAM("[" << camera_name_
// << "] opened: " << newconfig.video_mode << ", "
// << newconfig.frame_rate << " fps, "
// << newconfig.iso_speed << " Mb/s");
state_ = Driver::OPENED;
calibration_matches_ = true;
// cam_->display_formats_supported();
}
catch (uvc_cam::Exception& e)
{
ROS_FATAL_STREAM("[" << camera_name_
<< "] exception opening device: " << e.what());
success = false;
}
return success;
}
/** Open the camera device.
*
* @param newconfig configuration parameters
* @return true, if successful
*
* if successful:
* state_ is Driver::OPENED
* camera_name_ set to GUID string
*/
bool openCamera(Config &newconfig)
{
bool success = true;
try
{
if (dev_->open(newconfig.guid.c_str(), newconfig.video_mode.c_str(),
newconfig.frame_rate, newconfig.iso_speed,
newconfig.bayer_pattern.c_str(),
newconfig.bayer_method.c_str())
== 0)
{
if (camera_name_ != dev_->device_id_)
{
camera_name_ = dev_->device_id_;
if (!cinfo_->setCameraName(camera_name_))
{
// GUID is 16 hex digits, which should be valid.
// If not, use it for log messages anyway.
ROS_WARN_STREAM("[" << camera_name_ << "] name not valid"
<< " for camera_info_manger");
}
}
ROS_INFO_STREAM("[" << camera_name_
<< "] opened: " << newconfig.video_mode << ", "
<< newconfig.frame_rate << " fps, "
<< newconfig.iso_speed << " Mb/s");
state_ = Driver::OPENED;
calibration_matches_ = true;
}
}
catch (camera1394v2::Exception& e)
{
ROS_FATAL_STREAM("[" << camera_name_
<< "] exception opening device: " << e.what());
success = false;
}
return success;
}