#include <camera_wrapper.hpp>

Inheritance diagram for autoware::drivers::camera::spinnaker::CameraWrapper:

Collaboration diagram for autoware::drivers::camera::spinnaker::CameraWrapper:

Public Types
using	ImageCallbackFunction = std::function< void(std::uint32_t, std::unique_ptr< sensor_msgs::msg::Image >)>
	A typedef for the callback function used to return an image message to the user. More...

Public Member Functions
	CameraWrapper (std::uint32_t camera_index, const Spinnaker::CameraPtr &camera, const CameraSettings &camera_settings)
	Construct a camera that wraps the spinnaker camera pointer. More...

	CameraWrapper (std::uint32_t camera_index, const Spinnaker::CameraPtr &camera)
	Construct a camera that wraps the spinnaker camera pointer. More...

	~CameraWrapper () override
	Properly destroys the camera. More...

	CameraWrapper (const CameraWrapper &)=delete

CameraWrapper &	operator= (const CameraWrapper &)=delete

	CameraWrapper (CameraWrapper &&)=default

CameraWrapper &	operator= (CameraWrapper &&)=default

void	OnImageEvent (Spinnaker::ImagePtr image) override

void	configure_camera (const CameraSettings &camera_settings)
	Configure a Spinnaker camera. More...

std::unique_ptr< sensor_msgs::msg::Image >	retreive_image () const
	Retreive latest available image. More...

void	start_capturing ()
	Start capturing on all cameras. More...

void	stop_capturing ()
	Stop capturing on all cameras. More...

void	set_on_image_callback (ImageCallbackFunction callback)
	Set the callback function called upon image arrival from the SDK. More...

Detailed Description

A wrapper around the Spinnaker camera.

It handles correct creation and destruction of the camera along with handling subscriptions to images generated by the camera.

Member Typedef Documentation

◆ ImageCallbackFunction

using autoware::drivers::camera::spinnaker::CameraWrapper::ImageCallbackFunction = std::function<void ( std::uint32_t, std::unique_ptr<sensor_msgs::msg::Image>)>

A typedef for the callback function used to return an image message to the user.

Constructor & Destructor Documentation

◆ CameraWrapper() [1/4]

autoware::drivers::camera::spinnaker::CameraWrapper::CameraWrapper	(	std::uint32_t	camera_index,
		const Spinnaker::CameraPtr &	camera,
		const CameraSettings &	camera_settings
	)

explicit

Construct a camera that wraps the spinnaker camera pointer.

◆ CameraWrapper() [2/4]

autoware::drivers::camera::spinnaker::CameraWrapper::CameraWrapper	(	std::uint32_t	camera_index,
		const Spinnaker::CameraPtr &	camera
	)

explicit

Construct a camera that wraps the spinnaker camera pointer.

◆ ~CameraWrapper()

autoware::drivers::camera::spinnaker::CameraWrapper::~CameraWrapper ( )

override

Properly destroys the camera.

◆ CameraWrapper() [3/4]

autoware::drivers::camera::spinnaker::CameraWrapper::CameraWrapper ( const CameraWrapper & )

delete

◆ CameraWrapper() [4/4]

autoware::drivers::camera::spinnaker::CameraWrapper::CameraWrapper ( CameraWrapper && )

default

Member Function Documentation

◆ configure_camera()

void autoware::drivers::camera::spinnaker::CameraWrapper::configure_camera ( const CameraSettings & camera_settings )

Configure a Spinnaker camera.

◆ OnImageEvent()

void autoware::drivers::camera::spinnaker::CameraWrapper::OnImageEvent ( Spinnaker::ImagePtr image )

override

This gets triggered when a camera received an image. It forwards this event to the parent bridge class.

◆ operator=() [1/2]

CameraWrapper& autoware::drivers::camera::spinnaker::CameraWrapper::operator= ( CameraWrapper && )

default

◆ operator=() [2/2]

CameraWrapper& autoware::drivers::camera::spinnaker::CameraWrapper::operator= ( const CameraWrapper & )

delete

◆ retreive_image()

std::unique_ptr< sensor_msgs::msg::Image > autoware::drivers::camera::spinnaker::CameraWrapper::retreive_image ( ) const

Retreive latest available image.

◆ set_on_image_callback()

void autoware::drivers::camera::spinnaker::CameraWrapper::set_on_image_callback ( ImageCallbackFunction callback )

Set the callback function called upon image arrival from the SDK.

◆ start_capturing()

void autoware::drivers::camera::spinnaker::CameraWrapper::start_capturing ( )

Start capturing on all cameras.

◆ stop_capturing()

void autoware::drivers::camera::spinnaker::CameraWrapper::stop_capturing ( )

Stop capturing on all cameras.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions