void Camera::setup()
{
// adjust packet size according to the current network capacity
tPvUint32 maxPacketSize = 9000;
PvCaptureAdjustPacketSize(handle_, maxPacketSize);
// set data rate to the max
unsigned long max_data_rate = getMaxDataRate();
if (max_data_rate < GIGE_MAX_DATA_RATE) {
ROS_WARN("Detected max data rate is %lu bytes/s, typical maximum data rate for a "
"GigE port is %lu bytes/s. Are you using a GigE network card and cable?\n",
max_data_rate, GIGE_MAX_DATA_RATE);
}
setAttribute("StreamBytesPerSecond", max_data_rate);
// capture whole frame by default
setBinning();
setRoiToWholeFrame();
// query for attributes (TODO: more)
CHECK_ERR( PvAttrUint32Get(handle_, "TotalBytesPerFrame", &frameSize_),
"Unable to retrieve frame size" );
// allocate frame buffers
frames_ = new tPvFrame[bufferSize_];
memset(frames_, 0, sizeof(tPvFrame) * bufferSize_);
for (unsigned int i = 0; i < bufferSize_; ++i)
{
frames_[i].ImageBuffer = new char[frameSize_];
frames_[i].ImageBufferSize = frameSize_;
frames_[i].Context[0] = (void*)this; // for frameDone callback
}
}
BinnedSpectrum::BinnedSpectrum(float size, UInt spread, PeakSpectrum ps) :
bin_spread_(spread), bin_size_(size), bins_(), raw_spec_(ps)
{
setBinning();
}
