Method open

swissranger_camera/src/dev_sr.cpp:87–151

}

int SR::open(int auto_exposure, int integration_time, int modulation_freq, int amp_threshold, std::string &ether_addr)
{
  // ---[ Open the camera ]---
  int res = 0;
  if(ether_addr != "")
  {
    // ---[ set callback function ] ---
    SR_SetCallback((SR_FuncCB *)SR_ROS_FuncCB);
    res = SR_OpenETH (&srCam_, ether_addr.c_str());
  }
  else
    res = SR_OpenUSB (&srCam_, 0); //returns the device ID used in

  if (res <= 0)
  {
    SafeCleanup();
    SR_EXCEPT(sr::Exception, "Failed to open device!");
    return (-1);
  }
  
  device_id_   = getDeviceString ();
  lib_version_ = getLibraryVersion ();
  // ---[ Get the number of rows, cols, ... ]---
  int rows_ = SR_GetRows (srCam_);
  int cols_ = SR_GetCols (srCam_);

  // ---[ Set the acquisition mode ]---
  SR_SetMode (srCam_, MODE);

  int inr_  = SR_GetImageList (srCam_, &imgEntryArray_);

  ROS_INFO ("[SwissRanger device::open] Number of images available: %d", inr_);

  if ( (cols_ != SR_COLS) || (rows_ != SR_ROWS) || (inr_ < SR_IMAGES) || (imgEntryArray_ == 0) )
  {
    SafeCleanup();
    SR_EXCEPT_ARGS(sr::Exception,
                   "Invalid data images: %d %dx%d images received from camera!\n Expected %d %dx%d images.",
                   inr_, cols_, rows_, SR_IMAGES, SR_COLS, SR_ROWS);
    return (-1);
  }
  
  if (auto_exposure >= 0)
    setAutoExposure(auto_exposure);

  if (integration_time >=0 && integration_time != getIntegrationTime())
    setIntegrationTime(integration_time);

  if (modulation_freq >=0 && modulation_freq != getModulationFrequency())
    setModulationFrequency(modulation_freq);

  if (amp_threshold >=0 && amp_threshold != getAmplitudeThreshold())
    setAmplitudeThreshold(amp_threshold);

  // Points array
  size_t buffer_size = rows_ * cols_ * 3 * sizeof (float);
  buffer_ = (float*)malloc (buffer_size);
  memset (buffer_, 0xaf, buffer_size);