Public Member Functions | Private Member Functions | Private Attributes
naoqicamera_driver::NaoqiCameraDriver Class Reference

#include <naoqi_camera.h>

Inheritance diagram for naoqicamera_driver::NaoqiCameraDriver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 NaoqiCameraDriver (int argc, char **argv, ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void poll (void)
void setup (void)
void shutdown (void)
 ~NaoqiCameraDriver ()

Private Member Functions

void closeCamera ()
void getNaoqiParams (ros::NodeHandle priv_nh)
bool openCamera (Config &newconfig)
void publish (const sensor_msgs::ImagePtr &image)
bool read (sensor_msgs::ImagePtr &image)
void reconfig (naoqicamera::NaoqiCameraConfig &newconfig, uint32_t level)

Private Attributes

bool calibration_matches_
std::string camera_name_
ros::NodeHandle camera_nh_
boost::shared_ptr
< AL::ALVideoDeviceProxy > 
camera_proxy_
boost::shared_ptr
< camera_info_manager::CameraInfoManager
cinfo_
naoqicamera::NaoqiCameraConfig config_
ros::Rate cycle_
diagnostic_updater::Updater diagnostics_
std::string frame_id_
image_transport::CameraPublisher image_pub_
boost::shared_ptr
< image_transport::ImageTransport
it_
ros::NodeHandle priv_nh_
ros::Rate real_frame_rate_
boost::mutex reconfiguration_mutex_
uint32_t retries_
dynamic_reconfigure::Server
< naoqicamera::NaoqiCameraConfig > 
srv_
volatile
driver_base::Driver::state_t 
state_
diagnostic_updater::TopicDiagnostic topic_diagnostics_
double topic_diagnostics_max_freq_
double topic_diagnostics_min_freq_

Detailed Description

Definition at line 79 of file naoqi_camera.h.


Constructor & Destructor Documentation

naoqicamera_driver::NaoqiCameraDriver::NaoqiCameraDriver ( int  argc,
char **  argv,
ros::NodeHandle  priv_nh,
ros::NodeHandle  camera_nh 
)

Definition at line 89 of file naoqi_camera.cpp.

Definition at line 133 of file naoqi_camera.cpp.


Member Function Documentation

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 162 of file naoqi_camera.cpp.

Get broker ip and port from ROS parameters.

Parameters:
nhNodehandle used to get parameters

Definition at line 141 of file naoqi_camera.cpp.

Open the camera device.

Parameters:
newconfigconfiguration parameters
Returns:
true, if successful
Postcondition:
diagnostics frequency parameters set

if successful: state_ is Driver::OPENED camera_name_ set to GUID string GUID configuration parameter updated

Definition at line 184 of file naoqi_camera.cpp.

device poll

Definition at line 251 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::publish ( const sensor_msgs::ImagePtr &  image) [private]

Publish camera stream topics

Parameters:
imagepoints to latest camera frame

Definition at line 307 of file naoqi_camera.cpp.

bool naoqicamera_driver::NaoqiCameraDriver::read ( sensor_msgs::ImagePtr &  image) [private]

Read camera data.

Parameters:
imagepoints to camera Image message
Returns:
true if successful, with image filled in

Definition at line 359 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::reconfig ( naoqicamera::NaoqiCameraConfig &  newconfig,
uint32_t  level 
) [private]

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:
newconfignew Config values
levelbit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 414 of file naoqi_camera.cpp.

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 518 of file naoqi_camera.cpp.

driver termination

Definition at line 526 of file naoqi_camera.cpp.


Member Data Documentation

Definition at line 124 of file naoqi_camera.h.

Definition at line 108 of file naoqi_camera.h.

Definition at line 107 of file naoqi_camera.h.

boost::shared_ptr<AL::ALVideoDeviceProxy> naoqicamera_driver::NaoqiCameraDriver::camera_proxy_ [private]

NAOqi proxy

Definition at line 116 of file naoqi_camera.h.

camera calibration information

Definition at line 123 of file naoqi_camera.h.

naoqicamera::NaoqiCameraConfig naoqicamera_driver::NaoqiCameraDriver::config_ [private]

dynamic parameter configuration

Definition at line 119 of file naoqi_camera.h.

Definition at line 110 of file naoqi_camera.h.

diagnostics updater

Definition at line 131 of file naoqi_camera.h.

Definition at line 109 of file naoqi_camera.h.

Definition at line 128 of file naoqi_camera.h.

image transport interfaces

Definition at line 127 of file naoqi_camera.h.

Definition at line 106 of file naoqi_camera.h.

Definition at line 111 of file naoqi_camera.h.

Definition at line 104 of file naoqi_camera.h.

Definition at line 112 of file naoqi_camera.h.

dynamic_reconfigure::Server<naoqicamera::NaoqiCameraConfig> naoqicamera_driver::NaoqiCameraDriver::srv_ [private]

Definition at line 120 of file naoqi_camera.h.

driver state variables

Definition at line 103 of file naoqi_camera.h.

Definition at line 134 of file naoqi_camera.h.

Definition at line 133 of file naoqi_camera.h.

Definition at line 132 of file naoqi_camera.h.


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


naoqi_sensors
Author(s): Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
autogenerated on Fri Jul 3 2015 15:25:16