streamer.hpp File Reference

Declarations for the STREAMER node. More...

#include "time.h"
#include <signal.h>
#include "ros_resources.hpp"
#include "tools.hpp"
#include "improc.hpp"
#include "video.hpp"
#include <dynamic_reconfigure/server.h>
#include "streamerConfig.h"
#include "clahe.h"
#include <termios.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/signal.h>
#include <sys/types.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <termio.h>

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Classes
struct	camData_
	Stores some basic camera information in OpenCV format. More...
struct	camExtrinsicsData_
	Stores some basic extrinsic camera information in OpenCV format. More...
struct	streamerData
	Stores configuration information for the camera driver / streamer. More...
class	streamerNode
	Manages the driver / streamer. More...
Defines
#define	_POSIX_SOURCE   1
#define	BAUDRATE   B38400
#define	CALIBMODE_ALT_OUTPUT   2
#define	CALIBMODE_ALT_SHUTTER   1
#define	CALIBMODE_LONG_SHUTTER   3
#define	CALIBMODE_OFF   0
#define	DATATYPE_8BIT   0
#define	DATATYPE_DEPTH   3
#define	DATATYPE_MM   2
#define	DATATYPE_RAW   1
#define	DEFAULT_IMAGE_HEIGHT   480
#define	DEFAULT_IMAGE_WIDTH   640
#define	DEFAULT_READ_RATE   25.0
#define	DEFAULT_SERIAL_POLLING_RATE   0.1
#define	DETECTOR_MODE_INS   2
#define	DETECTOR_MODE_LUM   1
#define	DETECTOR_MODE_RAD   3
#define	DETECTOR_MODE_RAW   0
#define	DETECTOR_MODE_TMP   4
#define	FALSE   0
#define	FASTEST_READ_RATE   1000.0
#define	MAX_COLS   2560
#define	MAX_READ_RATE   100.0
#define	MAX_ROWS   1920
#define	MODEMDEVICE   "/dev/ttyS0"
#define	NO_REPUBLISH_CODE   0
#define	REPUBLISH_CODE_16BIT   3
#define	REPUBLISH_CODE_8BIT_COL   2
#define	REPUBLISH_CODE_8BIT_MONO   1
#define	SYNCMODE_HARD   0
#define	SYNCMODE_IMAGEONLY   2
#define	SYNCMODE_SOFT   1
#define	TRUE   1
#define	UVC_STREAM_PTS   (1 << 2)
#define	UVC_STREAM_SCR   (1 << 3)
Typedefs
typedef dynamic_reconfigure::Server < thermalvis::streamerConfig >	Server
Functions
int	getMapIndex (string mapping)
void	getMapping (int mapIndex, bool extremes, int &mapCode, int &mapParam)
void	mySigintHandler (int sig)
void	signal_handler_IO (int status)
Variables
const char	__PROGRAM__ [] = "STREAMER"
long	BAUD
long	Baud_Rate = 115200
int	Data_Bits = 8
long	DATABITS
char	devicename [80]
int	Format = 4
boost::shared_ptr< streamerNode > *	globalNodePtr
FILE *	input
char	message [90]
FILE *	output
int	Parity = 0
long	PARITY
long	PARITYON
int	status
volatile int	STOP = FALSE
int	Stop_Bits = 1
long	STOPBITS
int	wait_flag = TRUE
bool	wantsToShutdown = false

---

Detailed Description

Declarations for the STREAMER node.

Definition in file streamer.hpp.

---

Define Documentation

#define _POSIX_SOURCE   1

Definition at line 44 of file streamer.hpp.

#define BAUDRATE   B38400

Definition at line 42 of file streamer.hpp.

#define CALIBMODE_ALT_OUTPUT   2

Definition at line 112 of file streamer.hpp.

#define CALIBMODE_ALT_SHUTTER   1

Definition at line 111 of file streamer.hpp.

#define CALIBMODE_LONG_SHUTTER   3

Definition at line 113 of file streamer.hpp.

#define CALIBMODE_OFF   0

Definition at line 110 of file streamer.hpp.

#define DATATYPE_8BIT   0

Definition at line 93 of file streamer.hpp.

#define DATATYPE_DEPTH   3

Definition at line 96 of file streamer.hpp.

#define DATATYPE_MM   2

Definition at line 95 of file streamer.hpp.

#define DATATYPE_RAW   1

Definition at line 94 of file streamer.hpp.

#define DEFAULT_IMAGE_HEIGHT   480

Definition at line 88 of file streamer.hpp.

#define DEFAULT_IMAGE_WIDTH   640

Definition at line 87 of file streamer.hpp.

#define DEFAULT_READ_RATE   25.0

Definition at line 83 of file streamer.hpp.

#define DEFAULT_SERIAL_POLLING_RATE   0.1

Definition at line 79 of file streamer.hpp.

#define DETECTOR_MODE_INS   2

Definition at line 117 of file streamer.hpp.

#define DETECTOR_MODE_LUM   1

Definition at line 116 of file streamer.hpp.

#define DETECTOR_MODE_RAD   3

Definition at line 118 of file streamer.hpp.

#define DETECTOR_MODE_RAW   0

Definition at line 115 of file streamer.hpp.

#define DETECTOR_MODE_TMP   4

Definition at line 119 of file streamer.hpp.

#define FALSE   0

Definition at line 45 of file streamer.hpp.

#define FASTEST_READ_RATE   1000.0

Definition at line 85 of file streamer.hpp.

#define MAX_COLS   2560

Definition at line 91 of file streamer.hpp.

#define MAX_READ_RATE   100.0

Definition at line 84 of file streamer.hpp.

#define MAX_ROWS   1920

Definition at line 90 of file streamer.hpp.

#define MODEMDEVICE   "/dev/ttyS0"

Definition at line 43 of file streamer.hpp.

#define NO_REPUBLISH_CODE   0

Definition at line 101 of file streamer.hpp.

#define REPUBLISH_CODE_16BIT   3

Definition at line 104 of file streamer.hpp.

#define REPUBLISH_CODE_8BIT_COL   2

Definition at line 103 of file streamer.hpp.

#define REPUBLISH_CODE_8BIT_MONO   1

Definition at line 102 of file streamer.hpp.

#define SYNCMODE_HARD   0

Definition at line 106 of file streamer.hpp.

#define SYNCMODE_IMAGEONLY   2

Definition at line 108 of file streamer.hpp.

#define SYNCMODE_SOFT   1

Definition at line 107 of file streamer.hpp.

#define TRUE   1

Definition at line 46 of file streamer.hpp.

#define UVC_STREAM_PTS   (1 << 2)

Definition at line 98 of file streamer.hpp.

#define UVC_STREAM_SCR   (1 << 3)

Definition at line 99 of file streamer.hpp.

---

Typedef Documentation

typedef dynamic_reconfigure::Server< thermalvis::streamerConfig > Server

Definition at line 123 of file streamer.hpp.

---

Function Documentation

int getMapIndex

(

string

mapping

)

Definition at line 3057 of file streamer.cpp.

void getMapping	(	int	mapIndex,
		bool	extremes,
		int &	mapCode,
		int &	mapParam
	)

Definition at line 2553 of file streamer.cpp.

void mySigintHandler

(

int

sig

)

Definition at line 240 of file calibrator.cpp.

void signal_handler_IO

(

int

status

)

---

Variable Documentation

const char __PROGRAM__[] = "STREAMER"

Definition at line 121 of file streamer.hpp.

long BAUD

Definition at line 54 of file streamer.hpp.

long Baud_Rate = 115200

Definition at line 53 of file streamer.hpp.

int Data_Bits = 8

Definition at line 59 of file streamer.hpp.

long DATABITS

Definition at line 55 of file streamer.hpp.

char devicename[80]

Definition at line 52 of file streamer.hpp.

int Format = 4

Definition at line 63 of file streamer.hpp.

boost::shared_ptr< streamerNode >* globalNodePtr

Definition at line 467 of file streamer.hpp.

FILE* input

Definition at line 64 of file streamer.hpp.

char message[90]

Definition at line 68 of file streamer.hpp.

FILE* output

Definition at line 65 of file streamer.hpp.

int Parity = 0

Definition at line 61 of file streamer.hpp.

long PARITY

Definition at line 58 of file streamer.hpp.

long PARITYON

Definition at line 57 of file streamer.hpp.

int status

Definition at line 66 of file streamer.hpp.

volatile int STOP = FALSE

Definition at line 48 of file streamer.hpp.

int Stop_Bits = 1

Definition at line 60 of file streamer.hpp.

long STOPBITS

Definition at line 56 of file streamer.hpp.

int wait_flag = TRUE

Definition at line 51 of file streamer.hpp.

bool wantsToShutdown = false

Definition at line 125 of file streamer.hpp.