CameraNode.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Kevin Hallenbeck
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Kevin Hallenbeck nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef _CAMERA_NODE_H_
#define _CAMERA_NODE_H_

// ROS communication
#include <ros/ros.h>
#include <ros/package.h>        // finds package paths
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <camera_calibration_parsers/parse_ini.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "ueye/monoConfig.h"

// File IO
#include <sstream>
#include <fstream>

// ueye::Camera class
#include <ueye/Camera.h>

namespace ueye {

const std::string configFileName(Camera &cam);

class CameraNode
{
public:

        CameraNode(ros::NodeHandle node, ros::NodeHandle private_nh);
        ~CameraNode();

private:

        // ROS callbacks
        void reconfig(monoConfig &config, uint32_t level);
        void timerCallback(const ros::TimerEvent& event);
        bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);

        void loadIntrinsics();
        sensor_msgs::ImagePtr processFrame(IplImage* frame, sensor_msgs::CameraInfoPtr &info);
        void publishImage(IplImage * frame);
        void startCamera();
        void stopCamera();
        void closeCamera();
        void handlePath(std::string &path);

        dynamic_reconfigure::Server<monoConfig> srv_;
        ros::Timer timer_;
        sensor_msgs::CameraInfo msg_camera_info_;

        cv_bridge::CvImage converter_;
        ueye::Camera cam_;
        bool running_;
        bool configured_;
        bool force_streaming_;
        std::string config_path_;
        int trigger_mode_;
        bool auto_exposure_;
        bool auto_gain_;
        int zoom_;

        // ROS topics
        image_transport::ImageTransport it_;
        image_transport::CameraPublisher pub_stream_;
        ros::ServiceServer srv_cam_info_;
};

} // namespace ueye

#endif // _CAMERA_NODE_H_