C++ scoped_ptr::hasAttribute方法代码示例

  bool processFrame(tPvFrame* frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)
  {
    /// @todo Better trigger timestamp matching
    if ((trigger_mode_ == prosilica::SyncIn1 || trigger_mode_ == prosilica::SyncIn2) && !trig_time_.isZero()) {
      img.header.stamp = cam_info.header.stamp = trig_time_;
      trig_time_ = ros::Time(); // Zero
    }
    else {
      /// @todo Match time stamp from frame to ROS time?
      img.header.stamp = cam_info.header.stamp = ros::Time::now();
    }

    /// @todo 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?
    tPvUint32 binning_x = 1, binning_y = 1;
    if (cam_->hasAttribute("BinningX")) {
      cam_->getAttribute("BinningX", binning_x);
      cam_->getAttribute("BinningY", binning_y);
    }
    // Binning averages bayer samples, so just call it mono8 in that case
    if (frame->Format == ePvFmtBayer8 && (binning_x > 1 || binning_y > 1))
      frame->Format = ePvFmtMono8;

    if (!frameToImage(frame, img))
      return false;

    // Set the operational parameters in CameraInfo (binning, ROI)
    cam_info.binning_x = binning_x;
    cam_info.binning_y = binning_y;
    // ROI in CameraInfo is in unbinned coordinates, need to scale up
    cam_info.roi.x_offset = frame->RegionX * binning_x;
    cam_info.roi.y_offset = frame->RegionY * binning_y;
    cam_info.roi.height = frame->Height * binning_y;
    cam_info.roi.width = frame->Width * binning_x;
    cam_info.roi.do_rectify = (frame->Height != sensor_height_ / binning_y) ||
                              (frame->Width  != sensor_width_  / binning_x);

    count_++;
    return true;
  }

  void configure(Config& config, uint32_t level)
  {
    ROS_DEBUG("Reconfigure request received");

    if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
      stop();

    // Trigger mode
    if (config.trigger_mode == "streaming") {
      trigger_mode_ = prosilica::Freerun;
      /// @todo Tighter bound than this minimal check
      desired_freq_ = 1; // make sure we get _something_
    }
    else if (config.trigger_mode == "syncin1") {
      trigger_mode_ = prosilica::SyncIn1;
      desired_freq_ = config.trig_rate;
    }
    else if (config.trigger_mode == "syncin2") {
      trigger_mode_ = prosilica::SyncIn2;
      desired_freq_ = config.trig_rate;
    }
//#if 0
    else if (config.trigger_mode == "fixedrate") {
      //ROS_DEBUG("Fixed rate not supported yet implementing software");
      trigger_mode_ = prosilica::FixedRate;
           // ROS_ERROR("Invalid trigger mode '%s' in reconfigure request", config.trigger_mode.c_str());

      ///@todo add the fixed rate implementation
      cam_->setAttribute("FrameRate",(tPvFloat32)config.fixed_rate);//1.0;//config.fixed_rate;
    }
//#endif
    else if (config.trigger_mode == "polled") {
      trigger_mode_ = prosilica::Software;
      desired_freq_ = 0;
    }
    else {
      ROS_ERROR("Invalid trigger '%s' in reconfigure request", config.trigger_mode.c_str());
    }
    trig_timestamp_topic_ = config.trig_timestamp_topic;

    // Exposure
    if (config.auto_exposure)
    {
      cam_->setExposure(0, prosilica::Auto);
      if (cam_->hasAttribute("ExposureAutoMax"))
      {
        tPvUint32 us = config.exposure_auto_max*1000000. + 0.5;
        cam_->setAttribute("ExposureAutoMax", us);
      }
      if (cam_->hasAttribute("ExposureAutoTarget"))
        cam_->setAttribute("ExposureAutoTarget", (tPvUint32)config.exposure_auto_target);
    }
    else {
      unsigned us = config.exposure*1000000. + 0.5;
      cam_->setExposure(us, prosilica::Manual);
    }

    // Gain
    if (config.auto_gain) {
      if (cam_->hasAttribute("GainAutoMax"))
      {
        cam_->setGain(0, prosilica::Auto);
        cam_->setAttribute("GainAutoMax", (tPvUint32)config.gain_auto_max);
        cam_->setAttribute("GainAutoTarget", (tPvUint32)config.gain_auto_target);
      }
      else {
        tPvUint32 major, minor;
        cam_->getAttribute("FirmwareVerMajor", major);
        cam_->getAttribute("FirmwareVerMinor", minor);
        ROS_WARN("Auto gain not available for this camera. Auto gain is available "
                 "on firmware versions 1.36 and above. You are running version %u.%u.",
                 (unsigned)major, (unsigned)minor);
        config.auto_gain = false;
      }
    }
    else
      cam_->setGain(config.gain, prosilica::Manual);

    // White balance
    if (config.auto_whitebalance) {
      if (cam_->hasAttribute("WhitebalMode"))
        cam_->setWhiteBalance(0, 0, prosilica::Auto);
      else {
        ROS_WARN("Auto white balance not available for this camera.");
        config.auto_whitebalance = false;
      }
    }
    else
      cam_->setWhiteBalance(config.whitebalance_blue, config.whitebalance_red, prosilica::Manual);

    // Binning configuration
    if (cam_->hasAttribute("BinningX")) {
      tPvUint32 max_binning_x, max_binning_y, dummy;
      PvAttrRangeUint32(cam_->handle(), "BinningX", &dummy, &max_binning_x);
      PvAttrRangeUint32(cam_->handle(), "BinningY", &dummy, &max_binning_y);
      config.binning_x = std::min(config.binning_x, (int)max_binning_x);
      config.binning_y = std::min(config.binning_y, (int)max_binning_y);

      cam_->setBinning(config.binning_x, config.binning_y);
    }
//.........这里部分代码省略.........