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00047 #ifndef __prosilica_camera__PROSILICACAMERACONFIG_H__
00048 #define __prosilica_camera__PROSILICACAMERACONFIG_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 prosilica_camera
00058 {
00059 class ProsilicaCameraConfigStatics;
00060
00061 class ProsilicaCameraConfig
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(ProsilicaCameraConfig &config, const ProsilicaCameraConfig &max, const ProsilicaCameraConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const ProsilicaCameraConfig &config1, const ProsilicaCameraConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, ProsilicaCameraConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const ProsilicaCameraConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ProsilicaCameraConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const ProsilicaCameraConfig &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 ProsilicaCameraConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (ProsilicaCameraConfig::* field);
00099
00100 virtual void clamp(ProsilicaCameraConfig &config, const ProsilicaCameraConfig &max, const ProsilicaCameraConfig &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 ProsilicaCameraConfig &config1, const ProsilicaCameraConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, ProsilicaCameraConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const ProsilicaCameraConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ProsilicaCameraConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const ProsilicaCameraConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 std::string trigger_mode;
00138
00139 bool auto_exposure;
00140
00141 double exposure;
00142
00143 bool auto_gain;
00144
00145 int gain;
00146
00147 bool auto_whitebalance;
00148
00149 int whitebalance_red;
00150
00151 int whitebalance_blue;
00152
00153 int binning_x;
00154
00155 int binning_y;
00156
00157 int x_offset;
00158
00159 int y_offset;
00160
00161 int width;
00162
00163 int height;
00164
00165 std::string frame_id;
00166
00167 std::string trig_timestamp_topic;
00168
00169 double trig_rate;
00170
00171
00172 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00173 {
00174 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00175 int count = 0;
00176 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00177 if ((*i)->fromMessage(msg, *this))
00178 count++;
00179 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00180 {
00181 ROS_ERROR("ProsilicaCameraConfig::__fromMessage__ called with an unexpected parameter.");
00182 ROS_ERROR("Booleans:");
00183 for (unsigned int i = 0; i < msg.bools.size(); i++)
00184 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00185 ROS_ERROR("Integers:");
00186 for (unsigned int i = 0; i < msg.ints.size(); i++)
00187 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00188 ROS_ERROR("Doubles:");
00189 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00190 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00191 ROS_ERROR("Strings:");
00192 for (unsigned int i = 0; i < msg.strs.size(); i++)
00193 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00194
00195
00196 return false;
00197 }
00198 return true;
00199 }
00200
00201
00202
00203 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00204 {
00205 dynamic_reconfigure::ConfigTools::clear(msg);
00206 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00207 (*i)->toMessage(msg, *this);
00208 }
00209
00210 void __toMessage__(dynamic_reconfigure::Config &msg) const
00211 {
00212 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00213 __toMessage__(msg, __param_descriptions__);
00214 }
00215
00216 void __toServer__(const ros::NodeHandle &nh) const
00217 {
00218 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00219 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00220 (*i)->toServer(nh, *this);
00221 }
00222
00223 void __fromServer__(const ros::NodeHandle &nh)
00224 {
00225 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00226 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00227 (*i)->fromServer(nh, *this);
00228 }
00229
00230 void __clamp__()
00231 {
00232 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00233 const ProsilicaCameraConfig &__max__ = __getMax__();
00234 const ProsilicaCameraConfig &__min__ = __getMin__();
00235 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00236 (*i)->clamp(*this, __max__, __min__);
00237 }
00238
00239 uint32_t __level__(const ProsilicaCameraConfig &config) const
00240 {
00241 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00242 uint32_t level = 0;
00243 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00244 (*i)->calcLevel(level, config, *this);
00245 return level;
00246 }
00247
00248 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00249 static const ProsilicaCameraConfig &__getDefault__();
00250 static const ProsilicaCameraConfig &__getMax__();
00251 static const ProsilicaCameraConfig &__getMin__();
00252 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00253
00254 private:
00255 static const ProsilicaCameraConfigStatics *__get_statics__();
00256 };
00257
00258 template <>
00259 inline void ProsilicaCameraConfig::ParamDescription<std::string>::clamp(ProsilicaCameraConfig &config, const ProsilicaCameraConfig &max, const ProsilicaCameraConfig &min) const
00260 {
00261 return;
00262 }
00263
00264 class ProsilicaCameraConfigStatics
00265 {
00266 friend class ProsilicaCameraConfig;
00267
00268 ProsilicaCameraConfigStatics()
00269 {
00270
00271 __min__.trigger_mode = "";
00272
00273 __max__.trigger_mode = "";
00274
00275 __default__.trigger_mode = "streaming";
00276
00277 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<std::string>("trigger_mode", "str", 1, "Camera Trigger mode", "{'enum_description': 'Enum to set the trigger mode', 'enum': [{'srcline': 11, 'description': 'Run at maximum frame rate', 'srcfile': '../cfg/ProsilicaCamera.cfg', 'cconsttype': 'const char * const', 'value': 'streaming', 'ctype': 'std::string', 'type': 'str', 'name': 'StreamingMode'}, {'srcline': 12, 'description': 'Capture frame in response to service call', 'srcfile': '../cfg/ProsilicaCamera.cfg', 'cconsttype': 'const char * const', 'value': 'polled', 'ctype': 'std::string', 'type': 'str', 'name': 'PolledMode'}, {'srcline': 14, 'description': 'External trigger on SyncIn1 line', 'srcfile': '../cfg/ProsilicaCamera.cfg', 'cconsttype': 'const char * const', 'value': 'syncin1', 'ctype': 'std::string', 'type': 'str', 'name': 'External1Mode'}, {'srcline': 15, 'description': 'External trigger on SyncIn2 line', 'srcfile': '../cfg/ProsilicaCamera.cfg', 'cconsttype': 'const char * const', 'value': 'syncin2', 'ctype': 'std::string', 'type': 'str', 'name': 'External2Mode'}]}", &ProsilicaCameraConfig::trigger_mode)));
00278
00279 __min__.auto_exposure = 0;
00280
00281 __max__.auto_exposure = 1;
00282
00283 __default__.auto_exposure = 1;
00284
00285 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<bool>("auto_exposure", "bool", 0, "Sets the camera exposure duration to automatic. Causes the @b exposure setting to be ignored.", "", &ProsilicaCameraConfig::auto_exposure)));
00286
00287 __min__.exposure = 2.5e-05;
00288
00289 __max__.exposure = 60.0;
00290
00291 __default__.exposure = 0.025;
00292
00293 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<double>("exposure", "double", 0, "Camera exposure time in seconds.", "", &ProsilicaCameraConfig::exposure)));
00294
00295 __min__.auto_gain = 0;
00296
00297 __max__.auto_gain = 1;
00298
00299 __default__.auto_gain = 1;
00300
00301 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<bool>("auto_gain", "bool", 0, "Sets the analog gain to automatic. Causes the @b gain setting to be ignored.", "", &ProsilicaCameraConfig::auto_gain)));
00302
00303 __min__.gain = 0;
00304
00305 __max__.gain = 24;
00306
00307 __default__.gain = 0;
00308
00309 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("gain", "int", 0, "The gain level in dB.", "", &ProsilicaCameraConfig::gain)));
00310
00311 __min__.auto_whitebalance = 0;
00312
00313 __max__.auto_whitebalance = 1;
00314
00315 __default__.auto_whitebalance = 1;
00316
00317 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<bool>("auto_whitebalance", "bool", 0, "Whether whitebalance will continuously adjust to the current scene. Causes the @b whitebalance_red and @b whitebalance_blue settings to be ignored.", "", &ProsilicaCameraConfig::auto_whitebalance)));
00318
00319 __min__.whitebalance_red = 80;
00320
00321 __max__.whitebalance_red = 300;
00322
00323 __default__.whitebalance_red = 100;
00324
00325 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("whitebalance_red", "int", 0, "Red gain as a percentage of the camera default setting.", "", &ProsilicaCameraConfig::whitebalance_red)));
00326
00327 __min__.whitebalance_blue = 80;
00328
00329 __max__.whitebalance_blue = 300;
00330
00331 __default__.whitebalance_blue = 100;
00332
00333 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("whitebalance_blue", "int", 0, "Blue gain as a percentage of the camera default setting.", "", &ProsilicaCameraConfig::whitebalance_blue)));
00334
00335 __min__.binning_x = 1;
00336
00337 __max__.binning_x = 8;
00338
00339 __default__.binning_x = 1;
00340
00341 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("binning_x", "int", 0, "Number of pixels to bin together horizontally.", "", &ProsilicaCameraConfig::binning_x)));
00342
00343 __min__.binning_y = 1;
00344
00345 __max__.binning_y = 14;
00346
00347 __default__.binning_y = 1;
00348
00349 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("binning_y", "int", 0, "Number of pixels to bin together vertically.", "", &ProsilicaCameraConfig::binning_y)));
00350
00351 __min__.x_offset = 0;
00352
00353 __max__.x_offset = 2447;
00354
00355 __default__.x_offset = 0;
00356
00357 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("x_offset", "int", 0, "X offset of the region of interest.", "", &ProsilicaCameraConfig::x_offset)));
00358
00359 __min__.y_offset = 0;
00360
00361 __max__.y_offset = 2049;
00362
00363 __default__.y_offset = 0;
00364
00365 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("y_offset", "int", 0, "Y offset of the region of interest.", "", &ProsilicaCameraConfig::y_offset)));
00366
00367 __min__.width = 0;
00368
00369 __max__.width = 2448;
00370
00371 __default__.width = 0;
00372
00373 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("width", "int", 0, "Width of the region of interest (0 for automatic).", "", &ProsilicaCameraConfig::width)));
00374
00375 __min__.height = 0;
00376
00377 __max__.height = 2050;
00378
00379 __default__.height = 0;
00380
00381 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<int>("height", "int", 0, "Height of the region of interest (0 for automatic).", "", &ProsilicaCameraConfig::height)));
00382
00383 __min__.frame_id = "";
00384
00385 __max__.frame_id = "";
00386
00387 __default__.frame_id = "";
00388
00389 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<std::string>("frame_id", "str", 0, "The optical camera TF frame set in message headers.", "", &ProsilicaCameraConfig::frame_id)));
00390
00391 __min__.trig_timestamp_topic = "";
00392
00393 __max__.trig_timestamp_topic = "";
00394
00395 __default__.trig_timestamp_topic = "";
00396
00397 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<std::string>("trig_timestamp_topic", "str", 1, "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "", &ProsilicaCameraConfig::trig_timestamp_topic)));
00398
00399 __min__.trig_rate = 1.0;
00400
00401 __max__.trig_rate = 100.0;
00402
00403 __default__.trig_rate = 15.0;
00404
00405 __param_descriptions__.push_back(ProsilicaCameraConfig::AbstractParamDescriptionConstPtr(new ProsilicaCameraConfig::ParamDescription<double>("trig_rate", "double", 0, "Sets the expected triggering rate in externally triggered mode.", "", &ProsilicaCameraConfig::trig_rate)));
00406
00407
00408 for (std::vector<ProsilicaCameraConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00409 __description_message__.parameters.push_back(**i);
00410 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00411 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00412 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00413 }
00414 std::vector<ProsilicaCameraConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00415 ProsilicaCameraConfig __max__;
00416 ProsilicaCameraConfig __min__;
00417 ProsilicaCameraConfig __default__;
00418 dynamic_reconfigure::ConfigDescription __description_message__;
00419 static const ProsilicaCameraConfigStatics *get_instance()
00420 {
00421
00422
00423
00424
00425 static ProsilicaCameraConfigStatics instance;
00426 return &instance;
00427 }
00428 };
00429
00430 inline const dynamic_reconfigure::ConfigDescription &ProsilicaCameraConfig::__getDescriptionMessage__()
00431 {
00432 return __get_statics__()->__description_message__;
00433 }
00434
00435 inline const ProsilicaCameraConfig &ProsilicaCameraConfig::__getDefault__()
00436 {
00437 return __get_statics__()->__default__;
00438 }
00439
00440 inline const ProsilicaCameraConfig &ProsilicaCameraConfig::__getMax__()
00441 {
00442 return __get_statics__()->__max__;
00443 }
00444
00445 inline const ProsilicaCameraConfig &ProsilicaCameraConfig::__getMin__()
00446 {
00447 return __get_statics__()->__min__;
00448 }
00449
00450 inline const std::vector<ProsilicaCameraConfig::AbstractParamDescriptionConstPtr> &ProsilicaCameraConfig::__getParamDescriptions__()
00451 {
00452 return __get_statics__()->__param_descriptions__;
00453 }
00454
00455 inline const ProsilicaCameraConfigStatics *ProsilicaCameraConfig::__get_statics__()
00456 {
00457 const static ProsilicaCameraConfigStatics *statics;
00458
00459 if (statics)
00460 return statics;
00461
00462 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00463
00464 if (statics)
00465 return statics;
00466
00467 statics = ProsilicaCameraConfigStatics::get_instance();
00468
00469 return statics;
00470 }
00471
00472
00473 const char * const ProsilicaCamera_StreamingMode = "streaming";
00474
00475 const char * const ProsilicaCamera_PolledMode = "polled";
00476
00477 const char * const ProsilicaCamera_External1Mode = "syncin1";
00478
00479 const char * const ProsilicaCamera_External2Mode = "syncin2";
00480 }
00481
00482 #endif // __PROSILICACAMERARECONFIGURATOR_H__
