Write driver for new camera (See3Cam_CU20)

[kev-the-dev]

Recommend forking http://wiki.ros.org/libuvc_camera, adding the extension units found at https://github.com/econsysqtcam/qtcam/blob/master/src/see3cam_cu20.cpp

IDEALLY, we contribute most to the ROS community by creating a generic system for interfacing with UVC extension units, not just the ones present in this camera, then PR to the ROS driver.

[kev-the-dev]

Notes:

// See3cam_cu20 camera
#define CAMERA_CONTROL_CU20         0x86
#define GET_SENSOR_MODE_CU20        0x01
#define SET_SENSOR_MODE_CU20        0x02
#define GET_CAMERA_MODE_CU20        0x03
#define SET_CAMERA_MODE_CU20        0x04
#define SET_SPECIAL_MODE_CU20       0x08
#define GET_SPECIAL_MODE_CU20       0x07
#define GET_ORIENTATION_CU20        0x09
#define SET_ORIENTATION_CU20        0x0A
#define SET_STROBEMODE_CU20         0x0C
#define GET_STROBEMODE_CU20         0x0B
#define SET_AE_ROI_MODE_CU20        0x06
#define GET_AE_ROI_MODE_CU20        0x05
#define SET_COLORKILLVAL_CU20       0x0E
#define GET_COLORKILLVAL_CU20       0x0D
#define SET_BURSTLENGTH_CU20        0x10
#define GET_BURSTLENGTH_CU20        0x0F
#define SET_ANTIFLICKER_CU20        0x12
#define GET_ANTIFLICKER_CU20        0x11
#define SET_DENOISE_MODE_CU20       0x16
#define GET_DENOISE_MODE_CU20       0x15
#define SET_LSCMODE_CU20            0x14
#define GET_LSCMODE_CU20            0x13
#define SET_TO_DEFAULT_CU20 0xFF

    enum sensorModes {
        SENSOR_STANDARD = 0x01,
        SENSOR_HDR_DLO  = 0x02
    };
    Q_ENUMS(sensorModes)

    enum cameraModes {
        CAMERA_MASTER = 0x01,
        CAMERA_SLAVE  = 0x02
    };
    Q_ENUMS(cameraModes)

    enum specialModes {
        SPECIAL_NORMAL = 0x01,
        SPECIAL_GREYSCALE  = 0x02
    };
    Q_ENUMS(specialModes)

    enum flipMirrorControls{
        SetBothFlipDisable = 0x01,
        SetHorzFlip = 0x03,
        SetVertiFlip = 0x02,
        SetBothFlipEnable = 0x04
    };
    Q_ENUMS(flipMirrorControls)

    enum strobeValues{
        STROBE_OFF = 0x04,
        STROBE_FLASH_VIDEO = 0x01,
        STROBE_TORCH = 0x03
    };
    Q_ENUMS(strobeValues)   

    enum camROIAutoExpMode {
        AutoExpCentered = 0x01,
        AutoExpManual = 0x02,
        AutoExpDisabled = 0x03
    };
    Q_ENUMS(camROIAutoExpMode)

    enum camAntiFlickerMode {
        AntiFlickerAuto = 0x01,
        AntiFlicker50Hz = 0x02,
        AntiFlicker60Hz = 0x03
    };
    Q_ENUMS(camAntiFlickerMode)

    enum denoiseModes {
        DenoiseEnable = 0x01,
        DenoiseDisable = 0x02
    };
    Q_ENUMS(denoiseModes)

    enum lscModes {
        LSC_AUTO = 0x01,
        LSC_DAYLIGHT = 0x02,
        LSC_CWFLIGHT = 0x03,
        LSC_ALIGHT = 0x04
    };
Q_ENUMS(lscModes)

[kev-the-dev]

Camera runs with ros's usb_cam driver, but does not have the extension unit functionalities. Will leave open but no longer urgent

[kev-the-dev]

It is now worth looking into this again for NaviGator, where having HDR on may distrupt scanning the LED panel.