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Added support for fixedrate mode #5

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merged 3 commits into from
Mar 4, 2014
Merged

Added support for fixedrate mode #5

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f39c976
Implemented fixed rate camera mode
Feb 16, 2014
3be551d
added fixed rate back to dynamic reconfigure cfg
Feb 23, 2014
cd3ccd7
Moved setting framerate from start to configure so that it is set wit…
Feb 23, 2014
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2 changes: 1 addition & 1 deletion prosilica_camera/cfg/ProsilicaCamera.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ gen = ParameterGenerator()

mode_enum = gen.enum( [ gen.const("StreamingMode", str_t, "streaming", "Run at maximum frame rate"),
gen.const("PolledMode", str_t, "polled", "Capture frame in response to service call"),
#gen.const("FixedRateMode", str_t, "fixedrate", "Fixed Rate mode"),
gen.const("FixedRateMode", str_t, "fixedrate", "Fixed Rate mode"),
gen.const("External1Mode", str_t, "syncin1", "External trigger on SyncIn1 line"),
gen.const("External2Mode", str_t, "syncin2", "External trigger on SyncIn2 line") ],
"Enum to set the trigger mode")
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1 change: 1 addition & 0 deletions prosilica_camera/include/prosilica/prosilica.h
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Expand Up @@ -103,6 +103,7 @@ class Camera

//! Must be used before calling start() in a non-triggered mode.
void setFrameCallback(boost::function<void (tPvFrame*)> callback);
void setFrameRate(tPvFloat32 frame_rate);
//! Start capture.
void start(FrameStartTriggerMode = Freerun, AcquisitionMode = Continuous);
//! Stop capture.
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10 changes: 8 additions & 2 deletions prosilica_camera/src/libprosilica/prosilica.cpp
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Expand Up @@ -208,16 +208,22 @@ void Camera::setFrameCallback(boost::function<void (tPvFrame*)> callback)
userCallback_ = callback;
}

void Camera::setFrameRate(tPvFloat32 frame_rate){
CHECK_ERR( PvAttrFloat32Set(handle_, "FrameRate", frame_rate),
"Could not set frame rate");
}


void Camera::start(FrameStartTriggerMode fmode, AcquisitionMode amode)
{
assert( FSTmode_ == None && fmode != None );
///@todo verify this assert again
assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || !userCallback_.empty() );
assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || fmode == FixedRate || !userCallback_.empty() );

// set camera in acquisition mode
CHECK_ERR( PvCaptureStart(handle_), "Could not start capture");

if (fmode == Freerun || fmode == SyncIn1 || fmode == SyncIn2)
if (fmode == Freerun || fmode == FixedRate || fmode == SyncIn1 || fmode == SyncIn2)
for (unsigned int i = 0; i < bufferSize_; ++i)
PvCaptureQueueFrame(handle_, frames_ + i, Camera::frameDone);

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11 changes: 5 additions & 6 deletions prosilica_camera/src/nodes/prosilica_node.cpp
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Expand Up @@ -213,14 +213,11 @@ class ProsilicaNode
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::Software;
///@todo add the fixed rate implementation
desired_freq_ = 0;
trigger_mode_ = prosilica::FixedRate;
desired_freq_ = config.trig_rate;
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It it not entirely obvious that the user should set the parameter described as "External triggering rate" when in fixed-rate mode.

What are your thoughts on adding another parameter which is explicitly the frame rate for fixed rate mode?

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I feel like a second parameter might be more confusing, especially when not using fixed rate mode. The description of trigger rate could be adjusted to make clear the meaning of this value in fixed rate mode

cam_->setFrameRate(desired_freq_);
}
#endif
else if (config.trigger_mode == "polled") {
trigger_mode_ = prosilica::Software;
desired_freq_ = 0;
Expand Down Expand Up @@ -365,6 +362,8 @@ class ProsilicaNode
if (!trig_timestamp_topic_.empty())
trigger_sub_ = nh_.subscribe(trig_timestamp_topic_, 1, &ProsilicaNode::syncInCallback, this);
}
else if (trigger_mode_ == prosilica::FixedRate){
}
else {
assert(trigger_mode_ == prosilica::Freerun);
}
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