.. _program_listing_file__tmp_ws_src_openni2_camera_openni2_camera_include_openni2_camera_openni2_driver.h:

Program Listing for File openni2_driver.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_openni2_camera_openni2_camera_include_openni2_camera_openni2_driver.h>` (``/tmp/ws/src/openni2_camera/openni2_camera/include/openni2_camera/openni2_driver.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2013, Willow Garage, Inc.
    * 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 the Willow Garage, Inc. 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.
    *
    *      Author: Julius Kammerl (jkammerl@willowgarage.com)
    */
   
   #ifndef OPENNI2_DRIVER_H
   #define OPENNI2_DRIVER_H
   
   #include <functional>
   
   #include <sensor_msgs/msg/image.hpp>
   
   #include <image_transport/image_transport.hpp>
   #include <camera_info_manager/camera_info_manager.hpp>
   
   #include <string>
   #include <vector>
   
   #include "openni2_camera/openni2_device_manager.h"
   #include "openni2_camera/openni2_device.h"
   #include "openni2_camera/openni2_video_mode.h"
   #include "openni2_camera/srv/get_serial.hpp"
   
   #include <rclcpp/rclcpp.hpp>
   
   namespace openni2_wrapper
   {
   
   class OpenNI2Driver : public rclcpp::Node
   {
   public:
     OpenNI2Driver(const rclcpp::NodeOptions & node_options);
   
   private:
     void newIRFrameCallback(sensor_msgs::msg::Image::SharedPtr image);
     void newColorFrameCallback(sensor_msgs::msg::Image::SharedPtr image);
     void newDepthFrameCallback(sensor_msgs::msg::Image::SharedPtr image);
   
     // Methods to get calibration parameters for the various cameras
     sensor_msgs::msg::CameraInfo::SharedPtr getDefaultCameraInfo(int width, int height, double f) const;
     sensor_msgs::msg::CameraInfo::SharedPtr getColorCameraInfo(int width, int height, rclcpp::Time time) const;
     sensor_msgs::msg::CameraInfo::SharedPtr getIRCameraInfo(int width, int height, rclcpp::Time time) const;
     sensor_msgs::msg::CameraInfo::SharedPtr getDepthCameraInfo(int width, int height, rclcpp::Time time) const;
     sensor_msgs::msg::CameraInfo::SharedPtr getProjectorCameraInfo(int width, int height, rclcpp::Time time) const;
   
     // resolves non-URI device IDs to URIs, e.g. '#1' is resolved to the URI of the first device
     std::string resolveDeviceURI(const std::string& device_id);
     void initDevice();
   
     void advertiseROSTopics();
   
     // TODO: this is hack around two issues
     //   First, subscription callbacks do not yet exist in ROS2
     //   Second, we can't initialize topics in the constructor (shared_from_this doesn't work yet)
     void periodic();
     bool initialized_;
   
     void monitorConnection();
     void colorConnectCb();
     void depthConnectCb();
     void irConnectCb();
   
     void getSerialCb(const std::shared_ptr<openni2_camera::srv::GetSerial::Request> request,
                      std::shared_ptr<openni2_camera::srv::GetSerial::Response> response);
   
     rcl_interfaces::msg::SetParametersResult paramCb(const std::vector<rclcpp::Parameter> parameters);
   
     void applyConfigToOpenNIDevice();
   
     void genVideoModeTableMap();
     bool lookupVideoMode(const std::string& mode, OpenNI2VideoMode& video_mode);
   
     sensor_msgs::msg::Image::ConstSharedPtr rawToFloatingPointConversion(sensor_msgs::msg::Image::ConstSharedPtr raw_image);
   
     void setIRVideoMode(const OpenNI2VideoMode& ir_video_mode);
     void setColorVideoMode(const OpenNI2VideoMode& color_video_mode);
     void setDepthVideoMode(const OpenNI2VideoMode& depth_video_mode);
   
     int extractBusID(const std::string& uri) const;
     bool isConnected() const;
   
     void forceSetExposure();
   
     std::shared_ptr<OpenNI2DeviceManager> device_manager_;
     std::shared_ptr<OpenNI2Device> device_;
   
     std::string device_id_;
     int bus_id_;
   
     bool enable_reconnect_;
   
     bool serialnumber_as_name_;
   
     rclcpp::Service<openni2_camera::srv::GetSerial>::SharedPtr get_serial_server;
   
     std::mutex connect_mutex_;
     // published topics
     image_transport::CameraPublisher pub_color_;
     image_transport::CameraPublisher pub_depth_;
     image_transport::CameraPublisher pub_depth_raw_;
     image_transport::CameraPublisher pub_ir_;
     rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr pub_projector_info_;
   
     rclcpp::TimerBase::SharedPtr timer_;
   
     std::shared_ptr<camera_info_manager::CameraInfoManager> color_info_manager_, ir_info_manager_;
   
     OnSetParametersCallbackHandle::SharedPtr parameters_callback_;
   
     OpenNI2VideoMode ir_video_mode_;
     OpenNI2VideoMode color_video_mode_;
     OpenNI2VideoMode depth_video_mode_;
   
     std::string ir_frame_id_;
     std::string color_frame_id_;
     std::string depth_frame_id_ ;
   
     std::string color_info_url_, ir_info_url_;
   
     bool color_depth_synchronization_;
     bool depth_registration_;
   
     std::map<std::string, OpenNI2VideoMode> video_modes_lookup_;
   
     // dynamic reconfigure config
     double depth_ir_offset_x_;
     double depth_ir_offset_y_;
     int z_offset_mm_;
     double z_scaling_;
   
     double ir_time_offset_;
     double color_time_offset_;
     double depth_time_offset_;
   
     int data_skip_;
   
     int data_skip_ir_counter_;
     int data_skip_color_counter_;
     int data_skip_depth_counter_;
   
     bool auto_exposure_;
     bool auto_white_balance_;
     int exposure_;
   
     bool ir_subscribers_;
     bool color_subscribers_;
     bool depth_subscribers_;
     bool depth_raw_subscribers_;
     bool projector_info_subscribers_;
   
     bool use_device_time_;
   };
   
   }
   
   #endif