#include <ueye_cam_nodelet.hpp>

Inheritance diagram for ueye_cam::UEyeCamNodelet:

Public Member Functions
void	configCallback (ueye_cam::UEyeCamConfig &config, uint32_t level)
virtual void	onInit ()
	UEyeCamNodelet ()
virtual	~UEyeCamNodelet ()
Static Public Attributes
static const std::string	DEFAULT_CAMERA_NAME = "camera"
static const std::string	DEFAULT_CAMERA_TOPIC = "image_raw"
static const std::string	DEFAULT_COLOR_MODE = ""
static constexpr double	DEFAULT_EXPOSURE = 33.0
static constexpr int	DEFAULT_FLASH_DURATION = 1000
static const std::string	DEFAULT_FRAME_NAME = "camera"
static constexpr double	DEFAULT_FRAME_RATE = 10.0
static constexpr int	DEFAULT_IMAGE_HEIGHT = 480
static constexpr int	DEFAULT_IMAGE_WIDTH = 640
static constexpr int	DEFAULT_PIXEL_CLOCK = 25
static constexpr unsigned int	RECONFIGURE_CLOSE = 3
static constexpr unsigned int	RECONFIGURE_RUNNING = 0
static constexpr unsigned int	RECONFIGURE_STOP = 1
Protected Member Functions
virtual INT	connectCam ()
virtual INT	disconnectCam ()
void	frameGrabLoop ()
ros::Time	getImageTimestamp ()
void	loadIntrinsicsFile ()
INT	parseROSParams (ros::NodeHandle &local_nh)
INT	queryCamParams ()
bool	saveIntrinsicsFile ()
bool	setCamInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
void	startFrameGrabber ()
void	stopFrameGrabber ()
virtual INT	syncCamConfig (std::string dft_mode_str="mono8")
Protected Attributes
std::string	cam_intr_filename_
ueye_cam::UEyeCamConfig	cam_params_
std::string	cam_params_filename_
std::string	cam_topic_
bool	cfg_sync_requested_
bool	frame_grab_alive_
std::thread	frame_grab_thread_
std::string	frame_name_
sensor_msgs::CameraInfo	ros_cam_info_
image_transport::CameraPublisher	ros_cam_pub_
ReconfigureServer *	ros_cfg_
boost::recursive_mutex	ros_cfg_mutex_
unsigned int	ros_frame_count_
sensor_msgs::Image	ros_image_
ros::ServiceServer	set_cam_info_srv_

Detailed Description

ROS interface nodelet for UEye camera API from IDS Imaging Development Systems GMBH.

Definition at line 72 of file ueye_cam_nodelet.hpp.

Constructor & Destructor Documentation

ueye_cam::UEyeCamNodelet::UEyeCamNodelet ( )

Definition at line 74 of file ueye_cam_nodelet.cpp.

ueye_cam::UEyeCamNodelet::~UEyeCamNodelet ( ) [virtual]

Definition at line 114 of file ueye_cam_nodelet.cpp.

Member Function Documentation

void ueye_cam::UEyeCamNodelet::configCallback	(	ueye_cam::UEyeCamConfig &	config,
		uint32_t	level
	)

Handles callbacks from dynamic_reconfigure.

Definition at line 507 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::connectCam ( ) [protected, virtual]

Initializes the camera handle, loads UEye INI configuration, refreshes parameters from camera, loads and sets static ROS parameters, and starts the frame grabber thread.

Definition at line 824 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::disconnectCam ( ) [protected, virtual]

Stops the frame grabber thread, closes the camera handle, and releases all local variables.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 845 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::frameGrabLoop ( ) [protected]

Main ROS interface "spin" loop.

Definition at line 869 of file ueye_cam_nodelet.cpp.

ros::Time ueye_cam::UEyeCamNodelet::getImageTimestamp ( ) [protected]

Returns image's timestamp or current wall time if driver call fails.

Definition at line 1058 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::loadIntrinsicsFile ( ) [protected]