camera_wrapper.hpp

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// Copyright 2020 Apex.AI, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef SPINNAKER_CAMERA_DRIVER__CAMERA_WRAPPER_HPP_
#define SPINNAKER_CAMERA_DRIVER__CAMERA_WRAPPER_HPP_
 
#ifndef DOXYGEN_SKIP
#include <Spinnaker.h>
#endif
 
#include <spinnaker_camera_driver/camera_settings.hpp>
#include <spinnaker_camera_driver/visibility_control.hpp>
#include <sensor_msgs/msg/image.hpp>
 
#include <memory>
#include <string>
#include <functional>
 
namespace autoware
{
namespace drivers
{
namespace camera
{
namespace spinnaker
{
 
class SPINNAKER_CAMERA_PUBLIC CameraWrapper : public Spinnaker::ImageEventHandler
{
public:
  using ImageCallbackFunction = std::function<void (
        std::uint32_t,
        std::unique_ptr<sensor_msgs::msg::Image>)>;
 
  explicit CameraWrapper(
    std::uint32_t camera_index,
    const Spinnaker::CameraPtr & camera,
    const CameraSettings & camera_settings);
 
  explicit CameraWrapper(
    std::uint32_t camera_index,
    const Spinnaker::CameraPtr & camera);
 
  ~CameraWrapper() override;
 
  // We don't expect this class to be coppied over, so forbid copying.
  CameraWrapper(const CameraWrapper &) = delete;
  CameraWrapper & operator=(const CameraWrapper &) = delete;
 
  // It is still ok to move this camera.
  CameraWrapper(CameraWrapper &&) = default;
  CameraWrapper & operator=(CameraWrapper &&) = default;
 
  void OnImageEvent(Spinnaker::ImagePtr image) override;
 
  void configure_camera(const CameraSettings & camera_settings);
 
  std::unique_ptr<sensor_msgs::msg::Image> retreive_image() const;
 
  void start_capturing();
 
  void stop_capturing();
 
  void set_on_image_callback(ImageCallbackFunction callback);
 
private:
  static std::unique_ptr<sensor_msgs::msg::Image> convert_to_image_msg(
    const Spinnaker::ImagePtr & image, const std::string & frame_id);
 
  static Spinnaker::PixelFormatEnums convert_to_pixel_format_enum(const std::string & pixel_format);
  static std::string convert_to_pixel_format_string(Spinnaker::PixelFormatEnums pixel_format);
 
  std::uint32_t m_camera_index{};
  Spinnaker::CameraPtr m_camera{};
  std::string m_frame_id{};
  bool m_is_camera_configured{};
  bool m_camera_is_capturing{};
 
  ImageCallbackFunction m_on_image_callback{};
};
 
}  //  namespace spinnaker
}  //  namespace camera
}  //  namespace drivers
}  //  namespace autoware
 
#endif  // SPINNAKER_CAMERA_DRIVER__CAMERA_WRAPPER_HPP_