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);
  bool
  readableProperty(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