Feature: horizontal and vertical image reverse (#41)

* Add horizontal/vertical inverse to reconfigure cfg

* Add ReverseX/ReverseY with setProperty

Co-authored-by: Fabian Schilling <[email protected]>

Author: fabianschilling

spinnaker_camera_driver/cfg/Spinnaker.cfg

@@ -127,7 +127,8 @@ gen.add("image_format_x_binning",                int_t,       SensorLevels.RECON
 gen.add("image_format_y_binning",                int_t,       SensorLevels.RECONFIGURE_STOP,        "Vertical Binning.",                                                                                  1,                            1,     8)
 gen.add("image_format_x_decimation",             int_t,       SensorLevels.RECONFIGURE_STOP,        "Horizontal Decimation.",                                                                             1,                            1,     8)
 gen.add("image_format_y_decimation",             int_t,       SensorLevels.RECONFIGURE_STOP,        "Vertical Decimation.",                                                                               1,                            1,     8)
-
+gen.add("image_format_x_reverse",                bool_t,      SensorLevels.RECONFIGURE_STOP,        "Horizontal Reverse.",                                                                                False)
+gen.add("image_format_y_reverse",                bool_t,      SensorLevels.RECONFIGURE_STOP,        "Vertical Reverse.",                                                                                  False)
 
 # Image Color Coding: Format of the pixel provided by the camera.
 codings = gen.enum([gen.const("Mono8", str_t, "Mono8", ""),

spinnaker_camera_driver/src/camera.cpp

@@ -186,11 +186,13 @@ void Camera::setNewConfiguration(const SpinnakerConfig& config, const uint32_t&
 // Image Size and Pixel Format
 void Camera::setImageControlFormats(const spinnaker_camera_driver::SpinnakerConfig& config)
 {
-  // Set Binning and Decimation
+  // Set Binning, Decimation, and Reverse
   setProperty(node_map_, "BinningHorizontal", config.image_format_x_binning);
   setProperty(node_map_, "BinningVertical", config.image_format_y_binning);
   setProperty(node_map_, "DecimationHorizontal", config.image_format_x_decimation);
   setProperty(node_map_, "DecimationVertical", config.image_format_y_decimation);
+  setProperty(node_map_, "ReverseX", config.image_format_x_reverse);
+  setProperty(node_map_, "ReverseY", config.image_format_y_reverse);
 
   // Grab the Max values after decimation
   Spinnaker::GenApi::CIntegerPtr height_max_ptr = node_map_->GetNode("HeightMax");