add flip params

SV-ROS · May 29, 2016 · 55d6df2 · 55d6df2
1 parent 01b26db
commit 55d6df2
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/cfg/Camera.cfg b/cfg/Camera.cfg
@@ -12,6 +12,8 @@ gen.add("saturation",           int_t,    0, "Saturation",            0,     0,
 gen.add("ISO",                  int_t,    0, "ISO",                 400,   100, 1600)
 gen.add("exposureCompensation", int_t,    0, "exposureCompensation",  0,   -10, 10)
 gen.add("videoStabilisation",  bool_t,    0, "videoStabilisation",  False)
+gen.add("vFlip",               bool_t,    0, "vFlip",  False)
+gen.add("hFlip",               bool_t,    0, "hFlip",  False)
 
 gen.add("zoom",       double_t, 0, "Digital zoom",  1.0, 1.0, 4.0)
 

diff --git a/src/raspicam_node.cpp b/src/raspicam_node.cpp
@@ -838,9 +838,11 @@ bool serv_publish_image_once(std_srvs::Empty::Request&, std_srvs::Empty::Respons
 
 void reconfigure_callback(raspicam::CameraConfig &config, uint32_t level) {
   ROS_INFO("Reconfigure Request: contrast %d, sharpness %d, brightness %d, saturation %d, ISO %d, exposureCompensation %d,"
-		   " videoStabilisation %d, zoom %.2f, exposure_mode %s, awb_mode %s",
+		   " videoStabilisation %d, vFlip %d, hFlip %d,"
+		   " zoom %.2f, exposure_mode %s, awb_mode %s",
 		    config.contrast, config.sharpness, config.brightness,
 			config.saturation, config.ISO, config.exposureCompensation, config.videoStabilisation,
+			config.vFlip, config.hFlip,
             config.zoom,
             config.exposure_mode.c_str(),
 			config.awb_mode.c_str());
@@ -874,6 +876,7 @@ void reconfigure_callback(raspicam::CameraConfig &config, uint32_t level) {
   raspicamcontrol_set_ISO(state_srv.camera_component, config.ISO);
   raspicamcontrol_set_exposure_compensation(state_srv.camera_component, config.exposureCompensation);
   raspicamcontrol_set_video_stabilisation(state_srv.camera_component, config.videoStabilisation);
+  raspicamcontrol_set_flips(state_srv.camera_component, config.hFlip, config.vFlip);
 
   ROS_INFO("Reconfigure done");
 }