Inheritance diagram for pointgrey_camera_driver::PointGreyStereoCameraNodelet:

Public Member Functions
	PointGreyStereoCameraNodelet ()
	~PointGreyStereoCameraNodelet ()
Private Member Functions
void	cleanUp ()
	Cleans up the memory and disconnects the camera.
void	devicePoll ()
	Function for the boost::thread to grabImages and publish them.
void	gainWBCallback (const image_exposure_msgs::ExposureSequence &msg)
void	onInit ()
	Serves as a psuedo constructor for nodelets.
void	paramCallback (pointgrey_camera_driver::PointGreyConfig &config, uint32_t level)
	Function that allows reconfiguration of the camera.
Private Attributes
size_t	binning_x_
	Camera Info pixel binning along the image x axis.
size_t	binning_y_
	Camera Info pixel binning along the image y axis.
sensor_msgs::CameraInfoPtr	ci_
	Camera Info message.
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
	Needed to initialize and keep the CameraInfoManager in scope.
bool	do_rectify_
	Whether or not to rectify as if part of an image. Set to false if whole image, and true if in ROI mode.
std::string	frame_id_
	Frame id for the camera messages, defaults to 'camera'.
double	gain_
boost::shared_ptr < image_transport::ImageTransport >	it_
	Needed to initialize and keep the ImageTransport in scope.
image_transport::CameraPublisher	it_pub_
	CameraInfoManager ROS publisher.
double	max_freq_
double	min_freq_
PointGreyCamera	pg_
	Instance of the PointGreyCamera library, used to interface with the hardware.
boost::shared_ptr< boost::thread >	pubThread_
	The thread that reads and publishes the images.
sensor_msgs::CameraInfoPtr	rci_
	Camera Info message.
boost::shared_ptr < camera_info_manager::CameraInfoManager >	rcinfo_
	Needed to initialize and keep the CameraInfoManager in scope.
boost::shared_ptr < image_transport::ImageTransport >	rit_
	Needed to initialize and keep the ImageTransport in scope.
image_transport::CameraPublisher	rit_pub_
	CameraInfoManager ROS publisher.
size_t	roi_height_
	Camera Info ROI height.
size_t	roi_width_
	Camera Info ROI width.
size_t	roi_x_offset_
	Camera Info ROI x offset.
size_t	roi_y_offset_
	Camera Info ROI y offset.
std::string	second_frame_id_
	Frame id used for the second camera.
boost::shared_ptr < dynamic_reconfigure::Server < pointgrey_camera_driver::PointGreyConfig > >	srv_
	Needed to initialize and keep the dynamic_reconfigure::Server in scope.
ros::Subscriber	sub_
	Subscriber for gain and white balance changes.
ros::Publisher	temp_pub_
	Publisher for current camera temperature.
diagnostic_updater::Updater	updater_
	Handles publishing diagnostics messages.
uint16_t	wb_blue_
uint16_t	wb_red_

Detailed Description

Definition at line 56 of file stereo_nodelet.cpp.

Constructor & Destructor Documentation

pointgrey_camera_driver::PointGreyStereoCameraNodelet::PointGreyStereoCameraNodelet ( ) [inline]

Definition at line 59 of file stereo_nodelet.cpp.

pointgrey_camera_driver::PointGreyStereoCameraNodelet::~PointGreyStereoCameraNodelet ( ) [inline]

Definition at line 61 of file stereo_nodelet.cpp.

Member Function Documentation

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::cleanUp ( ) [inline, private]

Cleans up the memory and disconnects the camera.

This function is called from the deconstructor since pg_.stop() and pg_.disconnect() could throw exceptions.

Definition at line 246 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::devicePoll ( ) [inline, private]

Function for the boost::thread to grabImages and publish them.

This function continues until the thread is interupted. Responsible for getting sensor_msgs::Image and publishing them.

Definition at line 266 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::gainWBCallback ( const image_exposure_msgs::ExposureSequence & msg ) [inline, private]

Definition at line 327 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::onInit ( ) [inline, private, virtual]

Serves as a psuedo constructor for nodelets.

This function needs to do the MINIMUM amount of work to get the nodelet running. Nodelets should not call blocking functions here for a significant period of time.

<

Todo:: Move this to diagnostics

Implements nodelet::Nodelet.

Definition at line 140 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::paramCallback	(	pointgrey_camera_driver::PointGreyConfig &	config,
		uint32_t	level
	)		`[inline, private]`

Function that allows reconfiguration of the camera.

This function serves as a callback for the dynamic reconfigure service. It simply passes the configuration object to the driver to allow the camera to reconfigure.

Parameters:

config	camera_library::CameraConfig object passed by reference. Values will be changed to those the driver is currently using.
level	driver_base reconfiguration level. See driver_base/SensorLevels.h for more information.

Definition at line 76 of file stereo_nodelet.cpp.

Member Data Documentation

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::binning_x_ [private]

Camera Info pixel binning along the image x axis.

Definition at line 372 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::binning_y_ [private]

Camera Info pixel binning along the image y axis.

Definition at line 373 of file stereo_nodelet.cpp.

sensor_msgs::CameraInfoPtr pointgrey_camera_driver::PointGreyStereoCameraNodelet::ci_ [private]

Camera Info message.

Definition at line 356 of file stereo_nodelet.cpp.

boost::shared_ptr<camera_info_manager::CameraInfoManager> pointgrey_camera_driver::PointGreyStereoCameraNodelet::cinfo_ [private]

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 346 of file stereo_nodelet.cpp.

bool pointgrey_camera_driver::PointGreyStereoCameraNodelet::do_rectify_ [private]

Whether or not to rectify as if part of an image. Set to false if whole image, and true if in ROI mode.

Definition at line 378 of file stereo_nodelet.cpp.

std::string pointgrey_camera_driver::PointGreyStereoCameraNodelet::frame_id_ [private]

Frame id for the camera messages, defaults to 'camera'.

Definition at line 357 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::gain_ [private]

Definition at line 360 of file stereo_nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> pointgrey_camera_driver::PointGreyStereoCameraNodelet::it_ [private]

Needed to initialize and keep the ImageTransport in scope.

Definition at line 345 of file stereo_nodelet.cpp.

image_transport::CameraPublisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::it_pub_ [private]

CameraInfoManager ROS publisher.

Definition at line 347 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::max_freq_ [private]

Definition at line 353 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::min_freq_ [private]

Definition at line 352 of file stereo_nodelet.cpp.

PointGreyCamera pointgrey_camera_driver::PointGreyStereoCameraNodelet::pg_ [private]

Instance of the PointGreyCamera library, used to interface with the hardware.

Definition at line 355 of file stereo_nodelet.cpp.

boost::shared_ptr<boost::thread> pointgrey_camera_driver::PointGreyStereoCameraNodelet::pubThread_ [private]

The thread that reads and publishes the images.

Definition at line 358 of file stereo_nodelet.cpp.

sensor_msgs::CameraInfoPtr pointgrey_camera_driver::PointGreyStereoCameraNodelet::rci_ [private]

Camera Info message.

Definition at line 369 of file stereo_nodelet.cpp.

boost::shared_ptr<camera_info_manager::CameraInfoManager> pointgrey_camera_driver::PointGreyStereoCameraNodelet::rcinfo_ [private]

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 367 of file stereo_nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> pointgrey_camera_driver::PointGreyStereoCameraNodelet::rit_ [private]

Needed to initialize and keep the ImageTransport in scope.

Definition at line 366 of file stereo_nodelet.cpp.

image_transport::CameraPublisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::rit_pub_ [private]

CameraInfoManager ROS publisher.

Definition at line 368 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_height_ [private]

Camera Info ROI height.

Definition at line 376 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_width_ [private]

Camera Info ROI width.

Definition at line 377 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_x_offset_ [private]

Camera Info ROI x offset.

Definition at line 374 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_y_offset_ [private]

Camera Info ROI y offset.

Definition at line 375 of file stereo_nodelet.cpp.

std::string pointgrey_camera_driver::PointGreyStereoCameraNodelet::second_frame_id_ [private]

Frame id used for the second camera.

Definition at line 365 of file stereo_nodelet.cpp.

boost::shared_ptr<dynamic_reconfigure::Server<pointgrey_camera_driver::PointGreyConfig> > pointgrey_camera_driver::PointGreyStereoCameraNodelet::srv_ [private]

Needed to initialize and keep the dynamic_reconfigure::Server in scope.

Definition at line 344 of file stereo_nodelet.cpp.

ros::Subscriber pointgrey_camera_driver::PointGreyStereoCameraNodelet::sub_ [private]

Subscriber for gain and white balance changes.

Definition at line 349 of file stereo_nodelet.cpp.

ros::Publisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::temp_pub_ [private]

Publisher for current camera temperature.