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00047 #ifndef __gazebo_plugins__CAMERASYNCHRONIZERCONFIG_H__
00048 #define __gazebo_plugins__CAMERASYNCHRONIZERCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace gazebo_plugins
00058 {
00059 class CameraSynchronizerConfigStatics;
00060
00061 class CameraSynchronizerConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(CameraSynchronizerConfig &config, const CameraSynchronizerConfig &max, const CameraSynchronizerConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const CameraSynchronizerConfig &config1, const CameraSynchronizerConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, CameraSynchronizerConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const CameraSynchronizerConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, CameraSynchronizerConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const CameraSynchronizerConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T CameraSynchronizerConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (CameraSynchronizerConfig::* field);
00099
00100 virtual void clamp(CameraSynchronizerConfig &config, const CameraSynchronizerConfig &max, const CameraSynchronizerConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const CameraSynchronizerConfig &config1, const CameraSynchronizerConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, CameraSynchronizerConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const CameraSynchronizerConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, CameraSynchronizerConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const CameraSynchronizerConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double projector_rate;
00138
00139 double projector_pulse_length;
00140
00141 double projector_pulse_shift;
00142
00143 int projector_mode;
00144
00145 bool prosilica_projector_inhibit;
00146
00147 double stereo_rate;
00148
00149 int wide_stereo_trig_mode;
00150
00151 int narrow_stereo_trig_mode;
00152
00153 double forearm_r_rate;
00154
00155 int forearm_r_trig_mode;
00156
00157 double forearm_l_rate;
00158
00159 int forearm_l_trig_mode;
00160
00161 double projector_tweak;
00162
00163 bool camera_reset;
00164
00165
00166 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00167 {
00168 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00169 int count = 0;
00170 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00171 if ((*i)->fromMessage(msg, *this))
00172 count++;
00173 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00174 {
00175 ROS_ERROR("CameraSynchronizerConfig::__fromMessage__ called with an unexpected parameter.");
00176 ROS_ERROR("Booleans:");
00177 for (unsigned int i = 0; i < msg.bools.size(); i++)
00178 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00179 ROS_ERROR("Integers:");
00180 for (unsigned int i = 0; i < msg.ints.size(); i++)
00181 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00182 ROS_ERROR("Doubles:");
00183 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00184 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00185 ROS_ERROR("Strings:");
00186 for (unsigned int i = 0; i < msg.strs.size(); i++)
00187 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00188
00189
00190 return false;
00191 }
00192 return true;
00193 }
00194
00195
00196
00197 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00198 {
00199 dynamic_reconfigure::ConfigTools::clear(msg);
00200 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00201 (*i)->toMessage(msg, *this);
00202 }
00203
00204 void __toMessage__(dynamic_reconfigure::Config &msg) const
00205 {
00206 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00207 __toMessage__(msg, __param_descriptions__);
00208 }
00209
00210 void __toServer__(const ros::NodeHandle &nh) const
00211 {
00212 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00213 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00214 (*i)->toServer(nh, *this);
00215 }
00216
00217 void __fromServer__(const ros::NodeHandle &nh)
00218 {
00219 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00220 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00221 (*i)->fromServer(nh, *this);
00222 }
00223
00224 void __clamp__()
00225 {
00226 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00227 const CameraSynchronizerConfig &__max__ = __getMax__();
00228 const CameraSynchronizerConfig &__min__ = __getMin__();
00229 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00230 (*i)->clamp(*this, __max__, __min__);
00231 }
00232
00233 uint32_t __level__(const CameraSynchronizerConfig &config) const
00234 {
00235 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00236 uint32_t level = 0;
00237 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00238 (*i)->calcLevel(level, config, *this);
00239 return level;
00240 }
00241
00242 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00243 static const CameraSynchronizerConfig &__getDefault__();
00244 static const CameraSynchronizerConfig &__getMax__();
00245 static const CameraSynchronizerConfig &__getMin__();
00246 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00247
00248 private:
00249 static const CameraSynchronizerConfigStatics *__get_statics__();
00250 };
00251
00252 template <>
00253 inline void CameraSynchronizerConfig::ParamDescription<std::string>::clamp(CameraSynchronizerConfig &config, const CameraSynchronizerConfig &max, const CameraSynchronizerConfig &min) const
00254 {
00255 return;
00256 }
00257
00258 class CameraSynchronizerConfigStatics
00259 {
00260 friend class CameraSynchronizerConfig;
00261
00262 CameraSynchronizerConfigStatics()
00263 {
00264
00265 __min__.projector_rate = 40.0;
00266
00267 __max__.projector_rate = 120.0;
00268
00269 __default__.projector_rate = 60.0;
00270
00271 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("projector_rate", "double", 31, "Projector pulse frequency in Hz.", "", &CameraSynchronizerConfig::projector_rate)));
00272
00273 __min__.projector_pulse_length = 0.001;
00274
00275 __max__.projector_pulse_length = 0.002;
00276
00277 __default__.projector_pulse_length = 0.002;
00278
00279 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("projector_pulse_length", "double", 31, "Length of the projector pulses in s. At high currents the hardware may limit the pulse length.", "", &CameraSynchronizerConfig::projector_pulse_length)));
00280
00281 __min__.projector_pulse_shift = 0.0;
00282
00283 __max__.projector_pulse_shift = 1.0;
00284
00285 __default__.projector_pulse_shift = 0.0;
00286
00287 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("projector_pulse_shift", "double", 31, "How far off-center the intermediate projector pulses are. Zero is on-center, one is touching the following pulse.", "", &CameraSynchronizerConfig::projector_pulse_shift)));
00288
00289 __min__.projector_mode = 1;
00290
00291 __max__.projector_mode = 3;
00292
00293 __default__.projector_mode = 2;
00294
00295 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<int>("projector_mode", "int", 31, "Indicates whether the projector should be off, on when in use or on all the time.", "{'enum_description': 'The projectors operating mode.', 'enum': [{'srcline': 55, 'description': 'The projector is always off.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'ProjectorOff'}, {'srcline': 56, 'description': 'The projector is on if one of the cameras is using it.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'ProjectorAuto'}, {'srcline': 57, 'description': 'The projector is always on.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'ProjectorOn'}]}", &CameraSynchronizerConfig::projector_mode)));
00296
00297 __min__.prosilica_projector_inhibit = 0;
00298
00299 __max__.prosilica_projector_inhibit = 1;
00300
00301 __default__.prosilica_projector_inhibit = 0;
00302
00303 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<bool>("prosilica_projector_inhibit", "bool", 16, "Indicates if the projector should turn off when the prosilica camera is exposing.", "", &CameraSynchronizerConfig::prosilica_projector_inhibit)));
00304
00305 __min__.stereo_rate = 1.0;
00306
00307 __max__.stereo_rate = 60.0;
00308
00309 __default__.stereo_rate = 30.0;
00310
00311 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("stereo_rate", "double", 3, "Indicates the frame rate for both stereo cameras in Hz. (Gets rounded to suitable divisors of projector_rate.)", "", &CameraSynchronizerConfig::stereo_rate)));
00312
00313 __min__.wide_stereo_trig_mode = 2;
00314
00315 __max__.wide_stereo_trig_mode = 4;
00316
00317 __default__.wide_stereo_trig_mode = 4;
00318
00319 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<int>("wide_stereo_trig_mode", "int", 3, "Indicates the triggering mode of the wide stereo camera.", "{'enum_description': 'The triggering mode for the wide camera.', 'enum': [{'srcline': 61, 'description': 'The cameras frequency can be set independently of the projector frequency. There is no deterministic phase relation between projector firing and camera triggering.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'IgnoreProjector'}, {'srcline': 62, 'description': 'The camera always exposes while the projector is on.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'WithProjector'}, {'srcline': 63, 'description': 'The camera always exposes while the projector is off.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'WithoutProjector'}]}", &CameraSynchronizerConfig::wide_stereo_trig_mode)));
00320
00321 __min__.narrow_stereo_trig_mode = 2;
00322
00323 __max__.narrow_stereo_trig_mode = 5;
00324
00325 __default__.narrow_stereo_trig_mode = 4;
00326
00327 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<int>("narrow_stereo_trig_mode", "int", 3, "Indicates the triggering mode of the narrow stereo camera.", "{'enum_description': 'The triggering mode for the narrow camera.', 'enum': [{'srcline': 61, 'description': 'The cameras frequency can be set independently of the projector frequency. There is no deterministic phase relation between projector firing and camera triggering.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'IgnoreProjector'}, {'srcline': 62, 'description': 'The camera always exposes while the projector is on.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'WithProjector'}, {'srcline': 63, 'description': 'The camera always exposes while the projector is off.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'WithoutProjector'}, {'srcline': 64, 'description': 'The camera alternates between frames with and without the projector.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 5, 'ctype': 'int', 'type': 'int', 'name': 'AlternateProjector'}]}", &CameraSynchronizerConfig::narrow_stereo_trig_mode)));
00328
00329 __min__.forearm_r_rate = 1.0;
00330
00331 __max__.forearm_r_rate = 60.0;
00332
00333 __default__.forearm_r_rate = 30.0;
00334
00335 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("forearm_r_rate", "double", 4, "Indicates the frame rate for the right forearm camera in Hz. (Gets rounded to suitable divisors of projector_rate.)", "", &CameraSynchronizerConfig::forearm_r_rate)));
00336
00337 __min__.forearm_r_trig_mode = 1;
00338
00339 __max__.forearm_r_trig_mode = 4;
00340
00341 __default__.forearm_r_trig_mode = 1;
00342
00343 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<int>("forearm_r_trig_mode", "int", 4, "Indicates the triggering mode of the right forearm camera.", "{'enum_description': 'The triggering mode for a forearm camera.', 'enum': [{'srcline': 60, 'description': 'The camera does not use the trigger input.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'InternalTrigger'}, {'srcline': 61, 'description': 'The cameras frequency can be set independently of the projector frequency. There is no deterministic phase relation between projector firing and camera triggering.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'IgnoreProjector'}, {'srcline': 62, 'description': 'The camera always exposes while the projector is on.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'WithProjector'}, {'srcline': 63, 'description': 'The camera always exposes while the projector is off.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'WithoutProjector'}]}", &CameraSynchronizerConfig::forearm_r_trig_mode)));
00344
00345 __min__.forearm_l_rate = 1.0;
00346
00347 __max__.forearm_l_rate = 60.0;
00348
00349 __default__.forearm_l_rate = 30.0;
00350
00351 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("forearm_l_rate", "double", 8, "Indicates the frame rate for the left forearm camera in Hz. (Gets rounded to suitable divisors of projector_rate.)", "", &CameraSynchronizerConfig::forearm_l_rate)));
00352
00353 __min__.forearm_l_trig_mode = 1;
00354
00355 __max__.forearm_l_trig_mode = 4;
00356
00357 __default__.forearm_l_trig_mode = 1;
00358
00359 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<int>("forearm_l_trig_mode", "int", 8, "Indicates the triggering mode of the left forearm camera.", "{'enum_description': 'The triggering mode for a forearm camera.', 'enum': [{'srcline': 60, 'description': 'The camera does not use the trigger input.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'InternalTrigger'}, {'srcline': 61, 'description': 'The cameras frequency can be set independently of the projector frequency. There is no deterministic phase relation between projector firing and camera triggering.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'IgnoreProjector'}, {'srcline': 62, 'description': 'The camera always exposes while the projector is on.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'WithProjector'}, {'srcline': 63, 'description': 'The camera always exposes while the projector is off.', 'srcfile': '../cfg/CameraSynchronizer.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'WithoutProjector'}]}", &CameraSynchronizerConfig::forearm_l_trig_mode)));
00360
00361 __min__.projector_tweak = -0.1;
00362
00363 __max__.projector_tweak = 0.1;
00364
00365 __default__.projector_tweak = 0.0;
00366
00367 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<double>("projector_tweak", "double", 31, "Adds a time shift in seconds to the projector timing. Useful for debugging but not in normal use.", "", &CameraSynchronizerConfig::projector_tweak)));
00368
00369 __min__.camera_reset = 0;
00370
00371 __max__.camera_reset = 1;
00372
00373 __default__.camera_reset = 0;
00374
00375 __param_descriptions__.push_back(CameraSynchronizerConfig::AbstractParamDescriptionConstPtr(new CameraSynchronizerConfig::ParamDescription<bool>("camera_reset", "bool", 31, "Does a hard reset of all the cameras using a long pulse on the trigger line. This parameter resets itself to false after 3 to 4 seconds.", "", &CameraSynchronizerConfig::camera_reset)));
00376
00377
00378 for (std::vector<CameraSynchronizerConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00379 __description_message__.parameters.push_back(**i);
00380 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00381 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00382 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00383 }
00384 std::vector<CameraSynchronizerConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00385 CameraSynchronizerConfig __max__;
00386 CameraSynchronizerConfig __min__;
00387 CameraSynchronizerConfig __default__;
00388 dynamic_reconfigure::ConfigDescription __description_message__;
00389 static const CameraSynchronizerConfigStatics *get_instance()
00390 {
00391
00392
00393
00394
00395 static CameraSynchronizerConfigStatics instance;
00396 return &instance;
00397 }
00398 };
00399
00400 inline const dynamic_reconfigure::ConfigDescription &CameraSynchronizerConfig::__getDescriptionMessage__()
00401 {
00402 return __get_statics__()->__description_message__;
00403 }
00404
00405 inline const CameraSynchronizerConfig &CameraSynchronizerConfig::__getDefault__()
00406 {
00407 return __get_statics__()->__default__;
00408 }
00409
00410 inline const CameraSynchronizerConfig &CameraSynchronizerConfig::__getMax__()
00411 {
00412 return __get_statics__()->__max__;
00413 }
00414
00415 inline const CameraSynchronizerConfig &CameraSynchronizerConfig::__getMin__()
00416 {
00417 return __get_statics__()->__min__;
00418 }
00419
00420 inline const std::vector<CameraSynchronizerConfig::AbstractParamDescriptionConstPtr> &CameraSynchronizerConfig::__getParamDescriptions__()
00421 {
00422 return __get_statics__()->__param_descriptions__;
00423 }
00424
00425 inline const CameraSynchronizerConfigStatics *CameraSynchronizerConfig::__get_statics__()
00426 {
00427 const static CameraSynchronizerConfigStatics *statics;
00428
00429 if (statics)
00430 return statics;
00431
00432 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00433
00434 if (statics)
00435 return statics;
00436
00437 statics = CameraSynchronizerConfigStatics::get_instance();
00438
00439 return statics;
00440 }
00441
00442
00443 const int CameraSynchronizer_ProjectorOff = 1;
00444
00445 const int CameraSynchronizer_ProjectorAuto = 2;
00446
00447 const int CameraSynchronizer_ProjectorOn = 3;
00448
00449 const int CameraSynchronizer_InternalTrigger = 1;
00450
00451 const int CameraSynchronizer_IgnoreProjector = 2;
00452
00453 const int CameraSynchronizer_WithProjector = 3;
00454
00455 const int CameraSynchronizer_WithoutProjector = 4;
00456
00457 const int CameraSynchronizer_AlternateProjector = 5;
00458 }
00459
00460 #endif // __CAMERASYNCHRONIZERRECONFIGURATOR_H__
