#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 const std::string	DEFAULT_TIMEOUT_TOPIC = "timeout_count"
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 ()
bool	fillMsgData (sensor_msgs::Image &img) const
void	frameGrabLoop ()
ros::Time	getImageTickTimestamp ()
ros::Time	getImageTimestamp ()
virtual void	handleTimeout ()
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_
uint64_t	init_clock_tick_
ros::Time	init_publish_time_
ros::Time	init_ros_time_
boost::mutex	output_rate_mutex_
uint64_t	prev_output_frame_idx_
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_
unsigned long long int	timeout_count_
ros::Publisher	timeout_pub_
std::string	timeout_topic_
Static Protected Attributes
static const std::map< INT, std::string >	ENCODING_DICTIONARY

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 76 of file ueye_cam_nodelet.cpp.

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

Definition at line 123 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 530 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 844 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 865 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::fillMsgData ( sensor_msgs::Image & img ) const [protected]

Transfers the current frame content into given sensor_msgs::Image, therefore writes the fields width, height, encoding, step and data of img.

Definition at line 1100 of file ueye_cam_nodelet.cpp.

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

Main ROS interface "spin" loop.

Definition at line 889 of file ueye_cam_nodelet.cpp.

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

Returns image's timestamp based on device's internal clock or current wall time if driver call fails.

Definition at line 1181 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 1166 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::handleTimeout ( ) [protected, virtual]

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 1191 of file ueye_cam_nodelet.cpp.

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

Loads the camera's intrinsic parameters from camIntrFilename.

Definition at line 1145 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::onInit ( ) [virtual]

Initializes ROS environment, loads static ROS parameters, initializes UEye camera, and starts live capturing / frame grabbing thread.

Implements nodelet::Nodelet.

Definition at line 136 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::parseROSParams ( ros::NodeHandle & local_nh ) [protected]

Loads, validates, and updates static ROS parameters.

Definition at line 211 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::queryCamParams ( ) [protected]

Reads parameter values from currently selected camera.

Definition at line 716 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::saveIntrinsicsFile ( ) [protected]

Saves the camera's intrinsic parameters to camIntrFilename.

Definition at line 1157 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::setCamInfo	(	sensor_msgs::SetCameraInfo::Request &	req,
		sensor_msgs::SetCameraInfo::Response &	rsp
	)		`[protected]`

(ROS Service) Updates the camera's intrinsic parameters over the ROS topic, and saves the parameters to a flatfile.

Definition at line 877 of file ueye_cam_nodelet.cpp.

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

Definition at line 1067 of file ueye_cam_nodelet.cpp.

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

Definition at line 1073 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::syncCamConfig ( std::string dft_mode_str = "mono8" ) [protected, virtual]

Calls UEyeCamDriver::syncCamConfig(), then updates ROS camera info and ROS image settings.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 683 of file ueye_cam_nodelet.cpp.

Member Data Documentation

std::string ueye_cam::UEyeCamNodelet::cam_intr_filename_ [protected]

Definition at line 201 of file ueye_cam_nodelet.hpp.

ueye_cam::UEyeCamConfig ueye_cam::UEyeCamNodelet::cam_params_ [protected]

Definition at line 203 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::cam_params_filename_ [protected]

Definition at line 202 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::cam_topic_ [protected]

Definition at line 199 of file ueye_cam_nodelet.hpp.

bool ueye_cam::UEyeCamNodelet::cfg_sync_requested_ [protected]

Definition at line 187 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_NAME = "camera" [static]

Definition at line 85 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_TOPIC = "image_raw" [static]

Definition at line 86 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_COLOR_MODE = "" [static]

Definition at line 88 of file ueye_cam_nodelet.hpp.

constexpr double ueye_cam::UEyeCamNodelet::DEFAULT_EXPOSURE = 33.0 [static]

Definition at line 79 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_FLASH_DURATION = 1000 [static]

Definition at line 82 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_NAME = "camera" [static]

Definition at line 84 of file ueye_cam_nodelet.hpp.

constexpr double ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_RATE = 10.0 [static]

Definition at line 80 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_HEIGHT = 480 [static]

Definition at line 78 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_WIDTH = 640 [static]

Definition at line 77 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_PIXEL_CLOCK = 25 [static]

Definition at line 81 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_TIMEOUT_TOPIC = "timeout_count" [static]

Definition at line 87 of file ueye_cam_nodelet.hpp.

const std::map< INT, std::string > ueye_cam::UEyeCamNodelet::ENCODING_DICTIONARY [static, protected]

Initial value:

 {
    { IS_CM_SENSOR_RAW8, sensor_msgs::image_encodings::BAYER_RGGB8 },
    { IS_CM_SENSOR_RAW10, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW12, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW16, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_MONO8, sensor_msgs::image_encodings::MONO8 },
    { IS_CM_MONO10, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO12, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO16, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_RGB8_PACKED, sensor_msgs::image_encodings::RGB8 },
    { IS_CM_BGR8_PACKED, sensor_msgs::image_encodings::BGR8 },
    { IS_CM_RGB10_PACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_PACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB10_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_UNPACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB12_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR12_UNPACKED, sensor_msgs::image_encodings::BGR16 }
}