def main():
####cam = CameraController('head_camera')
####cam.close()
reset_cameras()
cam = CameraController('right_hand_camera')
res = (1280, 800)
cam.resolution = res
cam.open()
#print 'gain was ',cam.gain
cam.gain = 0
def open_camera(self, camera, x_res, y_res):
if camera == "left":
cam = CameraController("left_hand_camera")
elif camera == "right":
cam = CameraController("right_hand_camera")
elif camera == "head":
cam = CameraController("head_camera")
else:
sys.exit("ERROR - open_camera - Invalid camera")
# set camera parameters
cam.resolution = (int(x_res), int(y_res))
cam.exposure = -1 # range, 0-100 auto = -1
cam.gain = -1 # range, 0-79 auto = -1
cam.white_balance_blue = -1 # range 0-4095, auto = -1
cam.white_balance_green = -1 # range 0-4095, auto = -1
cam.white_balance_red = -1 # range 0-4095, auto = -1
cam.open()
def set_cameras(res):
ls = rospy.ServiceProxy('cameras/list', ListCameras)
rospy.wait_for_service('cameras/list', timeout=10)
cameraList = ls()
if cameraList.cameras.count('right_hand_camera') == 0:
c = CameraController(cameraList.cameras[0])
c.close
else:
cRight = CameraController('right_hand_camera')
cRight.open()
cRight.resolution = res
cRight.gain = 20
cRight.exposure = 30
print "Right Camera Open: RES = " + str(cRight.resolution)
return None
