camera.h

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#ifndef SPINNAKER_CAMERA_DRIVER_CAMERA_H
#define SPINNAKER_CAMERA_DRIVER_CAMERA_H

#include <ros/ros.h>

// Header generated by dynamic_reconfigure
#include <spinnaker_camera_driver/SpinnakerConfig.h>
#include "spinnaker_camera_driver/set_property.h"

// Spinnaker SDK
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"

//*******************************************
// This Class contains camera control functions.
// This base Class is based on the BlackFly S.
// Different cameras can extend/ override
// this class for any specific differences.
//*******************************************

namespace spinnaker_camera_driver
{
class Camera
{
public:
  explicit Camera(Spinnaker::GenApi::INodeMap* node_map);
  ~Camera()
  {
  }
  virtual void setNewConfiguration(const spinnaker_camera_driver::SpinnakerConfig& config, const uint32_t& level);

  static const uint8_t LEVEL_RECONFIGURE_CLOSE = 3;

  static const uint8_t LEVEL_RECONFIGURE_STOP = 1;

  static const uint8_t LEVEL_RECONFIGURE_RUNNING = 0;

  virtual void setGain(const float& gain);
  int getHeightMax();
  int getWidthMax();

  Spinnaker::GenApi::CNodePtr
  readProperty(const Spinnaker::GenICam::gcstring property_name);

protected:
  Spinnaker::GenApi::INodeMap* node_map_;

  virtual void init();

  int height_max_;
  int width_max_;

  virtual void setFrameRate(const float frame_rate);
  virtual void setImageControlFormats(const spinnaker_camera_driver::SpinnakerConfig& config);
  // TODO(mhosmar): Implement later
  // void setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay);

  // TODO(mhosmar): Implement later
  // void setupGigEPacketSize(FlyCapture2::PGRGuid & guid);

  // TODO(mhosmar): Implement later
  // void setupGigEPacketSize(FlyCapture2::PGRGuid & guid, unsigned int packet_size);

  // TODO(mhosmar): Implement later
  // void setupGigEPacketDelay(FlyCapture2::PGRGuid & guid, unsigned int packet_delay);

  // TODO(mhosmar): Implement later
  // float getCameraFrameRate();

  // TODO(mhosmar): Implement later
  // float getCameraTemperature();

  // TODO(mhosmar): Implement the following methods later
  // void setBRWhiteBalance(bool auto_white_balance, uint16_t &blue, uint16_t &red);

  // uint getGain();

  // uint getShutter();

  // uint getBrightness();

  // uint getExposure();

  // uint getWhiteBalance();

  // uint getROIPosition();
};
}  // namespace spinnaker_camera_driver
#endif  // SPINNAKER_CAMERA_DRIVER_CAMERA_H