My current changes

pointgrey_camera_driver/cfg/PointGrey.cfg

@@ -114,6 +114,10 @@ gen.add("white_balance_blue", int_t,    SensorLevels.RECONFIGURE_RUNNING,     "W
 
 gen.add("white_balance_red",  int_t,    SensorLevels.RECONFIGURE_RUNNING,     "White balance red component.",				             		             550, 0, 1023)
 
+gen.add("high_speed_mode", bool_t, SensorLevels.RECONFIGURE_STOP,      "High Speed mode",                                                       True)
+
+gen.add("number_of_buffers", int_t, SensorLevels.RECONFIGURE_STOP,         "Number of buffers, default is 10",                 10, 0, 1000)
+
 # Format7-specific parameters
 gen.add("format7_roi_width", int_t, SensorLevels.RECONFIGURE_STOP,         "Width of Format7 Region of Interest in unbinned pixels, full width if zero.",                 0, 0, 65535)
 

pointgrey_camera_driver/include/pointgrey_camera_driver/PointGreyCamera.h

@@ -129,6 +129,24 @@ class PointGreyCamera
   */
   void setTimeout(const double &timeout);
 
+  /*!
+  * \brief Will switch camera to high speed mode.
+  *
+  * This function will switch camera to high speed mode.  Must be called after connect().
+  * \param high_speed Bool to turn on or off the function
+  *
+  */
+  void setHighPerformance(bool high_speed);
+
+  /*!
+  * \brief Will set defined buffers to store in RAM.
+  *
+  * This function will set the set defined buffers.  Must be called after connect().
+  * \param buffers The desired buffers to put in the computer's RAM
+  *
+  */
+  void setBuffers(const int &buffers);
+
   /*!
   * \brief Used to set the serial number for the camera you wish to connect to.
   *
@@ -165,6 +183,8 @@ class PointGreyCamera
 
   uint getShutter();
 
+  uint getFrameCounter();
+
   uint getBrightness();
 
   uint getExposure();

pointgrey_camera_driver/src/PointGreyCamera.cpp

@@ -165,6 +165,10 @@ bool PointGreyCamera::setNewConfiguration(pointgrey_camera_driver::PointGreyConf
       retVal &= false;
   }
 
+  // set High Speed
+  PointGreyCamera::setHighPerformance(config.high_speed_mode);
+  PointGreyCamera::setBuffers(config.number_of_buffers);
+
   return retVal;
 }
 
@@ -580,6 +584,28 @@ bool PointGreyCamera::setWhiteBalance(bool &auto_white_balance, uint16_t &blue,
   return true;
 }
 
+void PointGreyCamera::setHighPerformance(bool high_performance)
+{
+  FC2Config pConfig;
+  Error error = cam_.GetConfiguration(&pConfig);
+  PointGreyCamera::handleError("PointGreyCamera::enableHighPerformance Could not get camera configuration", error);
+  pConfig.highPerformanceRetrieveBuffer = high_performance;
+  error = cam_.SetConfiguration(&pConfig);
+  PointGreyCamera::handleError("PointGreyCamera::enableHighPerformance Could not set camera configuration", error);
+
+
+}
+
+void PointGreyCamera::setBuffers(const int &buffers)
+{
+  FC2Config pConfig;
+  Error error = cam_.GetConfiguration(&pConfig);
+  PointGreyCamera::handleError("PointGreyCamera::enableHighPerformance Could not get camera configuration", error);
+  pConfig.numBuffers = buffers;
+  error = cam_.SetConfiguration(&pConfig);
+  PointGreyCamera::handleError("PointGreyCamera::enableHighPerformance Could not set camera configuration", error);
+}
+
 void PointGreyCamera::setTimeout(const double &timeout)
 {
   FC2Config pConfig;
@@ -860,7 +886,6 @@ void PointGreyCamera::connect()
         // Set packet delay:
         setupGigEPacketDelay(guid, packet_delay_);
     }
-
     error = cam_.Connect(&guid);
     PointGreyCamera::handleError("PointGreyCamera::connect Failed to connect to camera", error);
 
@@ -870,18 +895,27 @@ void PointGreyCamera::connect()
     PointGreyCamera::handleError("PointGreyCamera::connect  Failed to get camera info.", error);
     isColor_ = cInfo.isColorCamera;
 
-    // Enable metadata
+    error = cam_.ResetStats();
+    PointGreyCamera::handleError("PointGreyCamera::connect Failed to reset stats", error);
+
+    EmbeddedImageInfo EmbeddedInfo;
+    cam_.GetEmbeddedImageInfo(&EmbeddedInfo);
+    // We enable the features that are available to retrieve
     EmbeddedImageInfo info;
-    info.timestamp.onOff = true;
-    info.gain.onOff = true;
-    info.shutter.onOff = true;
-    info.brightness.onOff = true;
-    info.exposure.onOff = true;
-    info.whiteBalance.onOff = true;
-    info.frameCounter.onOff = true;
-    info.ROIPosition.onOff = true;
+    info.timestamp.onOff = (EmbeddedInfo.timestamp.available) ? true : false;
+    info.gain.onOff = (EmbeddedInfo.gain.available) ? true : false;
+    info.shutter.onOff = (EmbeddedInfo.shutter.available) ? true : false;
+    info.brightness.onOff = (EmbeddedInfo.brightness.available) ? true : false;
+    info.exposure.onOff = (EmbeddedInfo.exposure.available) ? true : false;
+    info.whiteBalance.onOff = (EmbeddedInfo.whiteBalance.available) ? true : false;
+    info.frameCounter.onOff = (EmbeddedInfo.frameCounter.available) ? true : false;
+    info.strobePattern.onOff = (EmbeddedInfo.strobePattern.available) ? true : false;
+    info.GPIOPinState.onOff = (EmbeddedInfo.GPIOPinState.available) ? true : false;
+    info.ROIPosition.onOff = (EmbeddedInfo.ROIPosition.available) ? true : false;
     error = cam_.SetEmbeddedImageInfo(&info);
-    PointGreyCamera::handleError("PointGreyCamera::connect Could not enable metadata", error);
+    PointGreyCamera::handleError("PointGreyCamera:: Could not enable metadata", error);
+
+
   }
 }
 
@@ -931,6 +965,9 @@ void PointGreyCamera::grabImage(sensor_msgs::Image &image, const std::string &fr
     Error error = cam_.RetrieveBuffer(&rawImage);
     PointGreyCamera::handleError("PointGreyCamera::grabImage Failed to retrieve buffer", error);
     metadata_ = rawImage.GetMetadata();
+//    std::ostringstream metadataInfo ;
+//    metadataInfo << "Frame out of the metadata is: " << metadata_.embeddedFrameCounter ;
+//    ROS_INFO(metadataInfo.str().c_str());
 
     // Set header timestamp as embedded for now
     TimeStamp embeddedTime = rawImage.GetTimeStamp();
@@ -1095,9 +1132,19 @@ uint PointGreyCamera::getShutter()
   return metadata_.embeddedShutter >> 20;
 }
 
+uint PointGreyCamera::getFrameCounter()
+{
+//	std::ostringstream y ;
+//	y << "from getFrameCounter() we get: " << metadata_.embeddedFrameCounter ;
+//	ROS_INFO(y.str().c_str());
+//	return metadata_.embeddedFrameCounter >> 20 ; // why was >> 20?
+	return metadata_.embeddedFrameCounter ;
+
+}
+
 uint PointGreyCamera::getBrightness()
 {
-  return metadata_.embeddedTimeStamp >> 20;
+	return metadata_.embeddedTimeStamp >> 20;
 }
 
 uint PointGreyCamera::getExposure()

pointgrey_camera_driver/src/nodelet.cpp

@@ -330,6 +330,12 @@ class PointGreyCameraNodelet: public nodelet::Nodelet
 
         wfov_image->temperature = pg_.getCameraTemperature();
 
+        wfov_image->frame_counter = (uint16_t)pg_.getFrameCounter();
+//        uint ohyeah = pg_.getFrameCounter() ;
+//        std::ostringstream fc ;
+//        fc << "frame counter from the pg_.getFrameCounter() is: " << wfov_image->frame_counter << " ohyeah is " << ohyeah;
+//        ROS_INFO(fc.str().c_str());
+
         ros::Time time = ros::Time::now();
         wfov_image->header.stamp = time;
         wfov_image->image.header.stamp = time;

wfov_camera_msgs/msg/WFOVImage.msg

@@ -16,4 +16,6 @@ uint16 white_balance_blue    	# White balance in blue.
 
 uint16 white_balance_red     	# White balance in red.
 
-float32 temperature          	# Temperature reported by the camera (Celsius).
+float32 temperature          	# Temperature reported by the camera (Celsius).
+
+uint16 frame_counter          	# Frame counter reported by the camera