Todo List

Member prosilica::Camera::grab (unsigned long timeout_ms=PVINFINITE)

This is a hack, it seems that re-commanding the software trigger too quickly may cause the Prosilica driver to complain that the sequence of API calls is incorrect.

Member prosilica::Camera::setGain (unsigned int val, AutoSetting isauto=Manual)

Here and in setWhiteBalance, would be better to split off setGainMode etc. I didn't take into account there are cameras that don't support auto gain, auto white balance.

Member prosilica::Camera::start (FrameStartTriggerMode=Freerun, AcquisitionMode=Continuous)

verify this assert again

take this one also as an argument

Member prosilica::init ()

Callbacks for add/remove camera?

Member prosilica::openCamera (boost::function< tPvErr(tPvCameraInfo *)> info_fn, boost::function< tPvErr(tPvAccessFlags)> open_fn)

support opening as monitor?

Class ProsilicaNode

Only stream when subscribed to

Member ProsilicaNode::configure (Config &config, uint32_t level)

Tighter bound than this minimal check

Replicating logic from polledCallback

If exception thrown due to bad settings, will fail to start camera

Member ProsilicaNode::normalizeExposure ()

assert(stopped)

thread safety

Member ProsilicaNode::packetStatistics (diagnostic_updater::DiagnosticStatusWrapper &status)

Something that doesn't oscillate

Member ProsilicaNode::pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)

Would be nice if grab() gave more info

Member ProsilicaNode::processFrame (tPvFrame *frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)

Better trigger timestamp matching

Match time stamp from frame to ROS time?

Binning values retrieved here may differ from the ones used to actually capture the frame! Maybe need to clear queue when changing binning and/or stuff binning values into context?

Member ProsilicaNode::running_

Make this property of Camera

Member ProsilicaNode::start ()

add the setting of output sync1 and sync2?

Member ProsilicaNode::syncInCallback (const std_msgs::HeaderConstPtr &msg)

Replace this with robust trigger matching