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Check if camera supports sensor scaling before trying to set it #89

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Check if camera supports sensor scaling before trying to set it #89

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6 changes: 4 additions & 2 deletions src/ueye_cam_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -539,8 +539,10 @@ INT UEyeCamNodelet::parseROSParams(ros::NodeHandle& local_nh) {
if ((is_err = setBinning(cam_params_.binning, false)) != IS_SUCCESS) return is_err;
if ((is_err = setResolution(cam_params_.image_width, cam_params_.image_height,
cam_params_.image_left, cam_params_.image_top, false)) != IS_SUCCESS) return is_err;
if ((is_err = setSensorScaling(cam_params_.sensor_scaling, false)) != IS_SUCCESS) return is_err;

SENSORSCALERINFO sensorScalerInfo; // Not all cameras support sensor scaling. Check if supported and only try to set it if supported
if (is_GetSensorScalerInfo(cam_handle_,&sensorScalerInfo, sizeof(sensorScalerInfo)) == IS_SUCCESS ) {
if ((is_err = setSensorScaling(cam_params_.sensor_scaling, false)) != IS_SUCCESS) return is_err;
}
// Force synchronize settings and re-allocate frame buffer for redundancy
// NOTE: although this might not be needed, assume that parseROSParams()
// is called only once per nodelet, thus ignore cost
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