streamerNode Class Reference

Manages the driver / streamer. More...

#include <streamer.hpp>

List of all members.

Public Member Functions
void	acceptImage (void *ptr)
void	act_on_image ()
void	assignCameraInfo ()
void	assignDefaultCameraInfo ()
bool	configureSerialComms ()
streamerSource *	getMainVideoSource ()
void	getRectification ()
float	getThermistorReading ()
VideoCapture *	getVideoCapture ()
void	handle_camera (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_image (const sensor_msgs::ImageConstPtr &msg_ptr)
void	handle_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	initializeMessages ()
bool	isVideoValid ()
void	markCurrentFrameAsDuplicate ()
int	mygetch ()
int	open_port ()
void	overwriteCameraDims ()
void	prepareForTermination ()
bool	processFolder ()
bool	processImage ()
void	publishTopics ()
void	refreshCameraAdvertisements ()
void	releaseDevice ()
bool	runBag ()
bool	runDevice ()
bool	runLoad ()
bool	runRead ()
void	serialCallback (const ros::TimerEvent &e)
void	serverCallback (thermalvis::streamerConfig &config, uint32_t level)
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
bool	setupDevice ()
void	setValidity (bool val)
bool	streamCallback (bool capture=true)
	streamerNode (ros::NodeHandle &nh, streamerData startupData)
void	timerCallback (const ros::TimerEvent &e)
void	updateCameraInfo ()
void	updateCameraInfoExtrinsics ()
void	updateMap ()
void	writeData ()
Public Attributes
CvCapture *	capture
Private Attributes
Mat	_16bitMat
Mat	_16bitMat_pub
Mat	_8bitMat
Mat	_8bitMat_pub
bool	alphaChanged
int	alternateCounter
bool	altStatus
string	callLogFile
sensor_msgs::CameraInfo	camera_info
image_transport::CameraSubscriber	camera_sub
VideoCapture	cap
bool	centerPrincipalPoint
cScheme	colourMap
Mat	colourMat
Mat	colourMat_pub
streamerData	configData
cv_bridge::CvImagePtr	cv_ptr
int	device_num
ros::Time	dodgeTime
string	duplicatesLogFile
dynamic_reconfigure::Server < thermalvis::streamerConfig > ::CallbackType	f
int	fileCount
int64_t	firmwareTime
bool	firstCall
bool	firstFrame
bool	firstServerCallbackProcessed
Mat	frame
int	frameCounter
double	fusionFactor
camData_	globalCameraInfo
camExtrinsicsData_	globalExtrinsicsData
image_transport::Subscriber	image_sub
ros::Time	image_time
ros::Subscriber	info_sub
ros::Time	info_time
vector< string >	inputList
unsigned long	internal_time
string	internalLogFile
bool	isActuallyGray
image_transport::ImageTransport *	it
Mat	lastFrame
double	lastLowerLimit
double	lastMedian
float	lastThermistorReading
double	lastUpperLimit
int	lastWritten
int	mainfd
streamerSource *	mainVideoSource
Mat	map1
Mat	map2
double	maxVal
double	medianPercentile
double	minVal
sensor_msgs::Image	msg_16bit
sensor_msgs::Image	msg_8bit
sensor_msgs::Image	msg_color
Mat	newImage
double	newMedian
float	newThermistorReading
char	nodeName [256]
Mat	normalizedMat
ofstream	ofs
ofstream	ofs_call_log
ofstream	ofs_duplicates_log
ofstream	ofs_internal_log
ofstream	ofs_retrieve_log
ofstream	ofs_thermistor_log
ofstream	ofs_write_log
double	oldMaxDiff
unsigned long	original_bx
unsigned long	original_by
ros::Time	original_time
int	pastMeanIndex
double	pastMeans [256]
bool	performingNuc
Mat	preFilteredMat
image_transport::CameraPublisher	pub_16bit
image_transport::Publisher	pub_16bit_im
image_transport::CameraPublisher	pub_8bit
image_transport::Publisher	pub_8bit_im
image_transport::CameraPublisher	pub_color
image_transport::Publisher	pub_color_im
image_transport::CameraPublisher	pub_republish
image_transport::Publisher	pub_republish_im
bool	readyToPublish
string	retrieveLogFile
Mat	rzMat
ros::Timer	serial_timer
char	serialCommand [256]
dynamic_reconfigure::Server < thermalvis::streamerConfig >	server
ros::ServiceServer	set_camera_info
double	shiftDiff
Mat	smoothedMat
Mat	testMat
string	thermistorLogFile
ros::Timer	timer
Mat	undistorted
bool	updateDetectorMode
bool	updateNucInterval
VideoWriter	vid_writer
bool	videoInitialized
bool	videoValid
Mat	workingFrame
int	writeIndex
string	writeLogFile

---

Detailed Description

Manages the driver / streamer.

Definition at line 268 of file streamer.hpp.

---

Constructor & Destructor Documentation

streamerNode::streamerNode	(	ros::NodeHandle &	nh,
		streamerData	startupData
	)

Definition at line 1672 of file streamer.cpp.

---

Member Function Documentation

void streamerNode::acceptImage

(

void *

ptr

)

Definition at line 724 of file streamer.cpp.

void streamerNode::act_on_image

(

)

Definition at line 2115 of file streamer.cpp.

void streamerNode::assignCameraInfo

(

)

* use data from intrinsics file

Definition at line 428 of file streamer.cpp.

void streamerNode::assignDefaultCameraInfo

(

)

Definition at line 1652 of file streamer.cpp.

bool streamerNode::configureSerialComms

(

)

Definition at line 3117 of file streamer.cpp.

streamerSource * streamerNode::getMainVideoSource

(

)

Definition at line 2607 of file streamer.cpp.

void streamerNode::getRectification

(

)

Definition at line 1947 of file streamer.cpp.

float streamerNode::getThermistorReading

(

)

Definition at line 3260 of file streamer.cpp.

VideoCapture * streamerNode::getVideoCapture

(

)

Definition at line 2611 of file streamer.cpp.

void streamerNode::handle_camera	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

Definition at line 2085 of file streamer.cpp.

void streamerNode::handle_image

(

const sensor_msgs::ImageConstPtr &

msg_ptr

)

Definition at line 2155 of file streamer.cpp.

void streamerNode::handle_info

(

const sensor_msgs::CameraInfoConstPtr &

info_msg

)

Definition at line 1970 of file streamer.cpp.

void streamerNode::initializeMessages

(

)

Definition at line 1001 of file streamer.cpp.

bool streamerNode::isVideoValid

(

)

Definition at line 2591 of file streamer.cpp.

void streamerNode::markCurrentFrameAsDuplicate

(

)

Definition at line 363 of file streamer.cpp.

int streamerNode::mygetch

(

)

Definition at line 3092 of file streamer.cpp.

int streamerNode::open_port

(

)

Definition at line 3104 of file streamer.cpp.

void streamerNode::overwriteCameraDims

(

)

Definition at line 1665 of file streamer.cpp.

void streamerNode::prepareForTermination

(

)

Definition at line 67 of file streamer.cpp.

bool streamerNode::processFolder

(

)

Definition at line 325 of file streamer.cpp.

bool streamerNode::processImage

(

)

Definition at line 764 of file streamer.cpp.

void streamerNode::publishTopics

(

)

Definition at line 1046 of file streamer.cpp.

void streamerNode::refreshCameraAdvertisements

(

)

Definition at line 2000 of file streamer.cpp.

void streamerNode::releaseDevice

(

)

Definition at line 162 of file streamer.cpp.

bool streamerNode::runBag

(

)

Definition at line 301 of file streamer.cpp.

bool streamerNode::runDevice

(

)

Definition at line 177 of file streamer.cpp.

bool streamerNode::runLoad

(

)

Definition at line 234 of file streamer.cpp.

bool streamerNode::runRead

(

)

Definition at line 257 of file streamer.cpp.

void streamerNode::serialCallback

(

const ros::TimerEvent &

e

)

Definition at line 1315 of file streamer.cpp.

void streamerNode::serverCallback	(	thermalvis::streamerConfig &	config,
		uint32_t	level
	)

Definition at line 2656 of file streamer.cpp.

bool streamerNode::setCameraInfo	(	sensor_msgs::SetCameraInfo::Request &	req,
		sensor_msgs::SetCameraInfo::Response &	rsp
	)

Definition at line 588 of file streamer.cpp.

bool streamerNode::setupDevice

(

)

Definition at line 117 of file streamer.cpp.

void streamerNode::setValidity

(

bool

val

)

Definition at line 2602 of file streamer.cpp.

bool streamerNode::streamCallback

(

bool

capture = true

)

Definition at line 605 of file streamer.cpp.

void streamerNode::timerCallback

(

const ros::TimerEvent &

e

)

Definition at line 1490 of file streamer.cpp.

void streamerNode::updateCameraInfo

(

)

Definition at line 369 of file streamer.cpp.

void streamerNode::updateCameraInfoExtrinsics

(

)

Definition at line 570 of file streamer.cpp.

void streamerNode::updateMap

(

)

Definition at line 2615 of file streamer.cpp.

void streamerNode::writeData

(

)

Definition at line 1229 of file streamer.cpp.

---

Member Data Documentation

Mat streamerNode::_16bitMat [private]

Definition at line 363 of file streamer.hpp.

Mat streamerNode::_16bitMat_pub [private]

Definition at line 365 of file streamer.hpp.

Mat streamerNode::_8bitMat [private]

Definition at line 363 of file streamer.hpp.

Mat streamerNode::_8bitMat_pub [private]

Definition at line 365 of file streamer.hpp.

bool streamerNode::alphaChanged [private]

Definition at line 349 of file streamer.hpp.

int streamerNode::alternateCounter [private]

Definition at line 284 of file streamer.hpp.

bool streamerNode::altStatus [private]

Definition at line 279 of file streamer.hpp.

string streamerNode::callLogFile [private]

Definition at line 289 of file streamer.hpp.

sensor_msgs::CameraInfo streamerNode::camera_info [private]

Definition at line 375 of file streamer.hpp.

image_transport::CameraSubscriber streamerNode::camera_sub [private]

Definition at line 302 of file streamer.hpp.

VideoCapture streamerNode::cap [private]

Definition at line 390 of file streamer.hpp.

CvCapture* streamerNode::capture

Definition at line 402 of file streamer.hpp.

bool streamerNode::centerPrincipalPoint [private]

Definition at line 321 of file streamer.hpp.

cScheme streamerNode::colourMap [private]

Definition at line 335 of file streamer.hpp.

Mat streamerNode::colourMat [private]

Definition at line 363 of file streamer.hpp.

Mat streamerNode::colourMat_pub [private]

Definition at line 365 of file streamer.hpp.

streamerData streamerNode::configData [private]

Definition at line 299 of file streamer.hpp.

cv_bridge::CvImagePtr streamerNode::cv_ptr [private]

Definition at line 315 of file streamer.hpp.

int streamerNode::device_num [private]

Definition at line 368 of file streamer.hpp.

ros::Time streamerNode::dodgeTime [private]

Definition at line 304 of file streamer.hpp.

string streamerNode::duplicatesLogFile [private]

Definition at line 289 of file streamer.hpp.

dynamic_reconfigure::Server<thermalvis::streamerConfig>::CallbackType streamerNode::f [private]

Definition at line 393 of file streamer.hpp.

int streamerNode::fileCount [private]

Definition at line 384 of file streamer.hpp.

int64_t streamerNode::firmwareTime [private]

Definition at line 313 of file streamer.hpp.

bool streamerNode::firstCall [private]

Definition at line 273 of file streamer.hpp.

bool streamerNode::firstFrame [private]

Definition at line 329 of file streamer.hpp.

bool streamerNode::firstServerCallbackProcessed [private]

Definition at line 318 of file streamer.hpp.

Mat streamerNode::frame [private]

Definition at line 366 of file streamer.hpp.

int streamerNode::frameCounter [private]

Definition at line 338 of file streamer.hpp.

double streamerNode::fusionFactor [private]

Definition at line 320 of file streamer.hpp.

camData_ streamerNode::globalCameraInfo [private]

Definition at line 370 of file streamer.hpp.

camExtrinsicsData_ streamerNode::globalExtrinsicsData [private]

Definition at line 372 of file streamer.hpp.

image_transport::Subscriber streamerNode::image_sub [private]

Definition at line 300 of file streamer.hpp.

ros::Time streamerNode::image_time [private]

Definition at line 304 of file streamer.hpp.

ros::Subscriber streamerNode::info_sub [private]

Definition at line 301 of file streamer.hpp.

ros::Time streamerNode::info_time [private]

Definition at line 304 of file streamer.hpp.

vector<string> streamerNode::inputList [private]

Definition at line 383 of file streamer.hpp.

unsigned long streamerNode::internal_time [private]

Definition at line 311 of file streamer.hpp.

string streamerNode::internalLogFile [private]

Definition at line 289 of file streamer.hpp.

bool streamerNode::isActuallyGray [private]

Definition at line 379 of file streamer.hpp.

image_transport::ImageTransport* streamerNode::it [private]

Definition at line 298 of file streamer.hpp.

Mat streamerNode::lastFrame [private]

Definition at line 327 of file streamer.hpp.

double streamerNode::lastLowerLimit [private]

Definition at line 323 of file streamer.hpp.

double streamerNode::lastMedian [private]

Definition at line 323 of file streamer.hpp.

float streamerNode::lastThermistorReading [private]

Definition at line 296 of file streamer.hpp.

double streamerNode::lastUpperLimit [private]

Definition at line 323 of file streamer.hpp.

int streamerNode::lastWritten [private]

Definition at line 339 of file streamer.hpp.

int streamerNode::mainfd [private]

Definition at line 396 of file streamer.hpp.

streamerSource* streamerNode::mainVideoSource [private]

Definition at line 389 of file streamer.hpp.

Mat streamerNode::map1 [private]

Definition at line 331 of file streamer.hpp.

Mat streamerNode::map2 [private]

Definition at line 331 of file streamer.hpp.

double streamerNode::maxVal [private]

Definition at line 325 of file streamer.hpp.

double streamerNode::medianPercentile [private]

Definition at line 294 of file streamer.hpp.

double streamerNode::minVal [private]

Definition at line 325 of file streamer.hpp.

sensor_msgs::Image streamerNode::msg_16bit [private]

Definition at line 316 of file streamer.hpp.

sensor_msgs::Image streamerNode::msg_8bit [private]

Definition at line 316 of file streamer.hpp.

sensor_msgs::Image streamerNode::msg_color [private]

Definition at line 316 of file streamer.hpp.

Mat streamerNode::newImage [private]

Definition at line 366 of file streamer.hpp.

double streamerNode::newMedian [private]

Definition at line 323 of file streamer.hpp.

float streamerNode::newThermistorReading [private]

Definition at line 296 of file streamer.hpp.

char streamerNode::nodeName[256] [private]

Definition at line 271 of file streamer.hpp.

Mat streamerNode::normalizedMat [private]

Definition at line 366 of file streamer.hpp.

ofstream streamerNode::ofs [private]

Definition at line 282 of file streamer.hpp.

ofstream streamerNode::ofs_call_log [private]

Definition at line 290 of file streamer.hpp.

ofstream streamerNode::ofs_duplicates_log [private]

Definition at line 290 of file streamer.hpp.

ofstream streamerNode::ofs_internal_log [private]

Definition at line 290 of file streamer.hpp.

ofstream streamerNode::ofs_retrieve_log [private]

Definition at line 290 of file streamer.hpp.

ofstream streamerNode::ofs_thermistor_log [private]

Definition at line 290 of file streamer.hpp.

ofstream streamerNode::ofs_write_log [private]

Definition at line 290 of file streamer.hpp.

double streamerNode::oldMaxDiff [private]

Definition at line 323 of file streamer.hpp.

unsigned long streamerNode::original_bx [private]

Definition at line 308 of file streamer.hpp.

unsigned long streamerNode::original_by [private]

Definition at line 308 of file streamer.hpp.

ros::Time streamerNode::original_time [private]

Definition at line 304 of file streamer.hpp.

int streamerNode::pastMeanIndex [private]

Definition at line 287 of file streamer.hpp.

double streamerNode::pastMeans[256] [private]

Definition at line 286 of file streamer.hpp.

bool streamerNode::performingNuc [private]

Definition at line 280 of file streamer.hpp.

Mat streamerNode::preFilteredMat [private]

Definition at line 364 of file streamer.hpp.

image_transport::CameraPublisher streamerNode::pub_16bit [private]

Definition at line 358 of file streamer.hpp.

image_transport::Publisher streamerNode::pub_16bit_im [private]

Definition at line 352 of file streamer.hpp.

image_transport::CameraPublisher streamerNode::pub_8bit [private]

Definition at line 359 of file streamer.hpp.

image_transport::Publisher streamerNode::pub_8bit_im [private]

Definition at line 353 of file streamer.hpp.

image_transport::CameraPublisher streamerNode::pub_color [private]

Definition at line 357 of file streamer.hpp.

image_transport::Publisher streamerNode::pub_color_im [private]

Definition at line 351 of file streamer.hpp.

image_transport::CameraPublisher streamerNode::pub_republish [private]

Definition at line 361 of file streamer.hpp.

image_transport::Publisher streamerNode::pub_republish_im [private]

Definition at line 355 of file streamer.hpp.

bool streamerNode::readyToPublish [private]

Definition at line 345 of file streamer.hpp.

string streamerNode::retrieveLogFile [private]

Definition at line 289 of file streamer.hpp.

Mat streamerNode::rzMat [private]

Definition at line 333 of file streamer.hpp.

ros::Timer streamerNode::serial_timer [private]

Definition at line 347 of file streamer.hpp.

char streamerNode::serialCommand[256] [private]

Definition at line 277 of file streamer.hpp.

dynamic_reconfigure::Server<thermalvis::streamerConfig> streamerNode::server [private]

Definition at line 392 of file streamer.hpp.

ros::ServiceServer streamerNode::set_camera_info [private]

Definition at line 377 of file streamer.hpp.

double streamerNode::shiftDiff [private]

Definition at line 306 of file streamer.hpp.

Mat streamerNode::smoothedMat [private]

Definition at line 364 of file streamer.hpp.

Mat streamerNode::testMat [private]

Definition at line 292 of file streamer.hpp.

string streamerNode::thermistorLogFile [private]

Definition at line 289 of file streamer.hpp.

ros::Timer streamerNode::timer [private]

Definition at line 347 of file streamer.hpp.

Mat streamerNode::undistorted [private]

Definition at line 366 of file streamer.hpp.

bool streamerNode::updateDetectorMode [private]

Definition at line 276 of file streamer.hpp.

bool streamerNode::updateNucInterval [private]

Definition at line 275 of file streamer.hpp.

VideoWriter streamerNode::vid_writer [private]

Definition at line 341 of file streamer.hpp.

bool streamerNode::videoInitialized [private]

Definition at line 343 of file streamer.hpp.

bool streamerNode::videoValid [private]

Definition at line 388 of file streamer.hpp.

Mat streamerNode::workingFrame [private]

Definition at line 366 of file streamer.hpp.

int streamerNode::writeIndex [private]

Definition at line 337 of file streamer.hpp.

string streamerNode::writeLogFile [private]

Definition at line 289 of file streamer.hpp.

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The documentation for this class was generated from the following files:

• streamer.hpp
• streamer.cpp