<<PackageHeader(op3_camera_setting_tool)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/op3/introduction/|ROBOTIS e-Manual for ROBOTIS-OP3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name=op3_camera_setting_tool

pub{
  0{
    name= op3_camera/camera_params
    type= op3_camera_setting_tool/CameraParams
    desc= message about the current parameters of the usb camera
  }
}

sub{
  0{
    name= op3_camera/set_param
    type= op3_camera_setting_tool/V4lParameter
    desc= single parameter to set the usb camera
  }
  1{
    name= op3_camera/set_params
    type= op3_camera_setting_tool/V4lParameters
    desc= multi parameters to set the usb camera
  }
  2{
    name= op3_camera/param_command
    type= std_msgs/String
    desc= parameter setting command(save or reset)
  }
}

srv{
  0{
    name= op3_camera/set_camera_params
	type= op3_camera_setting_tool/SetParameters
	desc= service to set the parameters to usb camera
  }
  1{
    name= op3_camera/get_camera_params
	type= op3_camera_setting_tool/GetParameters
	desc= service to get the current parameters of usb camera
  }
}

param{
  0{
    name= ~yaml_path
    type= string
    default= ""
    desc= init parameters for usb camera
  }
  1{
    name= video_device
    type= string
    default= /dev/video0
    desc= device name of an usb camera for setting parameters
  }
}
}
}}}

==== Dynamic reconfigure ====
 * !CameraParams.cfg
 {{{
#---------------------------- parameter for usb camera -------------------------------# 
#           Name           , Type     , Reconfiguration level                         # 
#                                           , Description     , Default , Min , Max   #
#-------------------------------------------------------------------------------------#
gen.add("brightness"       ,int_t     ,0    ,"Brightness"     ,128      ,0    ,255)
gen.add("contrast"         ,int_t     ,0    ,"Contrast"       ,128      ,0    ,255)
gen.add("saturation"       ,int_t     ,0    ,"Saturation"     ,128      ,0    ,255)
gen.add("sharpness"        ,int_t     ,0    ,"Sharpness"      ,128      ,0    ,255)
gen.add("gain"             ,int_t     ,0    ,"Gain"           ,0        ,0    ,255)
gen.add("focus_auto"       ,bool_t    ,0    ,"Auto focus"     ,False) 
gen.add("focus_absolute"   ,int_t     ,0    ,"Absolute Focus" ,-1       ,-1   ,255)
exposure_auto_enum 
 = gen.enum([gen.const("auto"              ,int_t ,0 ,"Exposure Auto"),
             gen.const("manual"            ,int_t ,1 ,"Exposure Manual"),
             gen.const("shutter_priority"  ,int_t ,2 ,"Exposure : Shutter priority"),
             gen.const("aperture_priority" ,int_t ,3 ,"Exposure : Aperture priority")],
             "An enum to set size")
gen.add("exposure_auto"    ,int_t    ,0    ,"Auto Exposure"   ,3        ,0    ,3    
    ,edit_method=exposure_auto_enum)
gen.add("exposure_absolute"             
                           ,int_t    ,0    ,"Absolute Exposure"
                                                              ,80       ,0    ,255)
gen.add("white_balance_temperature_auto"   
                           ,bool_t   ,0    ,"Auto White Balance"
                                                              ,True)       
gen.add("white_balance_temperature"        
                           ,int_t    ,0    ,"White Balance Temperature"
                                                              ,4000     ,2000 ,6500)
 }}}