From cbf9604b9c2087303f52c8336f84e5432622414d Mon Sep 17 00:00:00 2001
From: Luis Camero <lcamero@clearpathrobotics.com>
Date: Thu, 18 Jan 2024 16:05:39 -0500
Subject: [PATCH] Added binning parameter

---
 spinnaker_camera_driver/config/blackfly_s.yaml       | 7 +++++++
 spinnaker_camera_driver/launch/driver_node.launch.py | 2 ++
 2 files changed, 9 insertions(+)

diff --git a/spinnaker_camera_driver/config/blackfly_s.yaml b/spinnaker_camera_driver/config/blackfly_s.yaml
index efd9d154..e5eb356f 100644
--- a/spinnaker_camera_driver/config/blackfly_s.yaml
+++ b/spinnaker_camera_driver/config/blackfly_s.yaml
@@ -14,6 +14,12 @@ parameters:
     # Some formats are e.g. "Mono8", "BayerRG8", "BGR8", "BayerRG16"
     # default is "BayerRG8"
     node: ImageFormatControl/PixelFormat
+  - name: binning_x
+    type: int
+    node: ImageFormatControl/BinningHorizontal
+  - name: binning_y
+    type: int
+    node: ImageFormatControl/BinningVertical
   - name: image_width
     type: int
     node: ImageFormatControl/Width
@@ -26,6 +32,7 @@ parameters:
   - name: offset_y
     type: int
     node: ImageFormatControl/OffsetY
+
   #
   # -------- analog control
   #
diff --git a/spinnaker_camera_driver/launch/driver_node.launch.py b/spinnaker_camera_driver/launch/driver_node.launch.py
index 0723f002..3f6c95e8 100644
--- a/spinnaker_camera_driver/launch/driver_node.launch.py
+++ b/spinnaker_camera_driver/launch/driver_node.launch.py
@@ -43,6 +43,8 @@
         # 'image_height': 1080,
         # 'offset_x': 16,
         # 'offset_y': 0,
+        # 'binning_x': 1,
+        # 'binning_y': 1,
         'frame_rate_auto': 'Off',
         'frame_rate': 40.0,
         'frame_rate_enable': True,