PointGreyCamera.h

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/*
This code was developed by the National Robotics Engineering Center (NREC), part of the Robotics Institute at Carnegie Mellon University.
Its development was funded by DARPA under the LS3 program and submitted for public release on June 7th, 2012.
Release was granted on August, 21st 2012 with Distribution Statement "A" (Approved for Public Release, Distribution Unlimited).

This software is released under a BSD license:

Copyright (c) 2012, Carnegie Mellon University. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Carnegie Mellon University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/



/*-*-C++-*-*/
#ifndef _POINTGREYCAMERA_H_
#define _POINTGREYCAMERA_H_

#include <sensor_msgs/Image.h> // ROS message header for Image
#include <sensor_msgs/image_encodings.h> // ROS header for the different supported image encoding types
#include <sensor_msgs/fill_image.h>
#include <pointgrey_camera_driver/camera_exceptions.h>

#include <sstream>

// Header generated by dynamic_reconfigure
#include <pointgrey_camera_driver/PointGreyConfig.h>

// FlyCapture SDK from Point Grey
#include "flycapture/FlyCapture2.h"


class PointGreyCamera
{

public:
  PointGreyCamera();
  ~PointGreyCamera();

  bool setNewConfiguration(pointgrey_camera_driver::PointGreyConfig &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;

  void connect();

  void disconnect();

  void start();

  bool stop();

  void grabImage(sensor_msgs::Image &image, const std::string &frame_id);

  void grabStereoImage(sensor_msgs::Image &image, const std::string &frame_id, sensor_msgs::Image &second_image, const std::string &second_frame_id);

  void setTimeout(const double &timeout);

  void setDesiredCamera(const uint32_t &id);

  void setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay);

  std::vector<uint32_t> getAttachedCameras();

  float getCameraTemperature();

  void setGain(double &gain);

  void setBRWhiteBalance(bool auto_white_balance, uint16_t &blue, uint16_t &red);

  uint getGain();

  uint getShutter();

  uint getBrightness();

  uint getExposure();

  uint getWhiteBalance();

  uint getROIPosition();

private:

  uint32_t serial_; 
  FlyCapture2::BusManager busMgr_; 
  FlyCapture2::Camera cam_; 
  FlyCapture2::ImageMetadata metadata_; 

  boost::mutex mutex_; 
  volatile bool captureRunning_; 

  bool isColor_;

  // For GigE cameras:
  bool auto_packet_size_;
  unsigned int packet_size_;
  unsigned int packet_delay_;

  void setVideoMode(FlyCapture2::VideoMode &videoMode);

  bool setFormat7(FlyCapture2::Mode &fmt7Mode, FlyCapture2::PixelFormat &fmt7PixFmt, uint16_t &roi_width, uint16_t &roi_height, uint16_t &roi_offset_x, uint16_t &roi_offset_y);

  bool getVideoModeFromString(std::string &vmode, FlyCapture2::VideoMode &vmode_out, FlyCapture2::Mode &fmt7Mode);

  bool getFormat7PixelFormatFromString(std::string &sformat, FlyCapture2::PixelFormat &fmt7PixFmt);

  bool setProperty(const FlyCapture2::PropertyType &type, const bool &autoSet,  unsigned int &valueA,  unsigned int &valueB);

  bool setProperty(const FlyCapture2::PropertyType &type, const bool &autoSet, double &value);

  bool setWhiteBalance(bool& auto_white_balance, uint16_t &blue, uint16_t &red);

  float getCameraFrameRate();

  bool setExternalTrigger(bool &enable, std::string &mode, std::string &source, int32_t &parameter, double &delay, bool &polarityHigh);

  bool setExternalStrobe(bool &enable, const std::string &dest, double &duration, double &delay, bool &polarityHigh);

  void setupGigEPacketSize(FlyCapture2::PGRGuid & guid);

  void setupGigEPacketSize(FlyCapture2::PGRGuid & guid, unsigned int packet_size);

  void setupGigEPacketDelay(FlyCapture2::PGRGuid & guid, unsigned int packet_delay);

public:
  static void handleError(const std::string &prefix, const FlyCapture2::Error &error);

};

#endif