camera1394_driver::Camera1394Driver Class Reference

#include <driver1394.h>

Public Member Functions
	Camera1394Driver (ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void	poll (void)
void	setup (void)
void	shutdown (void)
	~Camera1394Driver ()
Private Member Functions
void	closeCamera ()
bool	openCamera (Config &newconfig)
void	publish (const sensor_msgs::ImagePtr &image)
bool	read (sensor_msgs::ImagePtr &image)
void	reconfig (camera1394::Camera1394Config &newconfig, uint32_t level)
Private Attributes
bool	calibration_matches_
std::string	camera_name_
ros::NodeHandle	camera_nh_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
camera1394::Camera1394Config	config_
ros::Rate	cycle_
boost::shared_ptr < camera1394::Camera1394 >	dev_
image_transport::CameraPublisher	image_pub_
boost::shared_ptr < image_transport::ImageTransport >	it_
boost::mutex	mutex_
ros::NodeHandle	priv_nh_
volatile bool	reconfiguring_
dynamic_reconfigure::Server < camera1394::Camera1394Config >	srv_
volatile driver_base::Driver::state_t	state_

Detailed Description

Definition at line 60 of file driver1394.h.

Constructor & Destructor Documentation

camera1394_driver::Camera1394Driver::Camera1394Driver	(	ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 71 of file driver1394.cpp.

camera1394_driver::Camera1394Driver::~Camera1394Driver ( )

Definition at line 87 of file driver1394.cpp.

Member Function Documentation

void camera1394_driver::Camera1394Driver::closeCamera ( ) [private]

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 94 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::openCamera ( Config & newconfig ) [private]

Open the camera device.

Parameters:

newconfig

configuration parameters

Returns:: true, if successful

if successful: state_ is Driver::OPENED camera_name_ set to GUID string

Definition at line 113 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::poll ( void )

device poll

Definition at line 164 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::publish ( const sensor_msgs::ImagePtr & image ) [private]

Publish camera stream topics

Parameters:

image

points to latest camera frame

Definition at line 201 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::read ( sensor_msgs::ImagePtr & image ) [private]

Read camera data.

Parameters:

image

points to camera Image message

Returns:: true if successful, with image filled in

Definition at line 252 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::reconfig	(	camera1394::Camera1394Config &	newconfig,
		uint32_t	level
	)			`[private]`

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:

	newconfig	new Config values
	level	bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 280 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::setup ( void )

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 362 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::shutdown ( void )

driver termination

Definition at line 369 of file driver1394.cpp.