camera1394::Camera1394 Class Reference

#include <dev_camera1394.h>

Public Member Functions
	Camera1394 ()
bool	checkCameraInfo (const sensor_msgs::Image &image, const sensor_msgs::CameraInfo &ci)
int	close ()
int	open (camera1394::Camera1394Config &newconfig)
bool	readData (sensor_msgs::Image &image)
void	setOperationalParameters (sensor_msgs::CameraInfo &ci)
	~Camera1394 ()

Public Attributes
std::string	device_id_
boost::shared_ptr< Features >	features_
boost::shared_ptr< Registers >	registers_

Private Member Functions
bool	findBayerMethod (const char *)
void	findBayerPattern (const char *)
void	SafeCleanup ()

Private Attributes
dc1394bayer_method_t	BayerMethod_
dc1394color_filter_t	BayerPattern_
dc1394camera_t *	camera_
bool	DoBayerConversion_
Format7	format7_
float	time_offset_
bool	use_ros_time_
dc1394video_mode_t	videoMode_

Detailed Description

Definition at line 70 of file dev_camera1394.h.

Constructor & Destructor Documentation

Camera1394::Camera1394

(

)

Definition at line 80 of file dev_camera1394.cpp.

Camera1394::~Camera1394

(

)

Definition at line 84 of file dev_camera1394.cpp.

Member Function Documentation

bool camera1394::Camera1394::checkCameraInfo ( const sensor_msgs::Image &  image, const sensor_msgs::CameraInfo &  ci  )

inline

check whether CameraInfo matches current video mode

Parameters

image	corresponding Image message
ci	CameraInfo message to check

Returns

true if camera dimensions match calibration

Definition at line 86 of file dev_camera1394.h.

int Camera1394::close

(

)

close the 1394 device

Definition at line 398 of file dev_camera1394.cpp.

bool Camera1394::findBayerMethod ( const char *  method )

private

Definition at line 116 of file dev_camera1394.cpp.

void Camera1394::findBayerPattern ( const char *  bayer )

private

Definition at line 89 of file dev_camera1394.cpp.

int Camera1394::open

(

camera1394::Camera1394Config &

newconfig

)

Open the 1394 device and start streaming

Parameters

newconfig

new configuration parameters

Returns

0 if successful

TODO (if successful):

• update newconfig.guid
• validate newconfig.video_mode
• initialize Features class

Definition at line 161 of file dev_camera1394.cpp.

bool Camera1394::readData

(

sensor_msgs::Image &

image

)

Return an image frame

Definition at line 453 of file dev_camera1394.cpp.

void Camera1394::SafeCleanup ( )

private

Safe Cleanup – may get called more than once.

Definition at line 383 of file dev_camera1394.cpp.

void camera1394::Camera1394::setOperationalParameters ( sensor_msgs::CameraInfo &  ci )

inline

set operational parameter fields in CameraInfo message

Parameters

ci	CameraInfo message to update

Postcondition

CameraInfo fields filled in (if needed): roi (region of interest) binning_x, binning_y

Definition at line 104 of file dev_camera1394.h.

Member Data Documentation

dc1394bayer_method_t camera1394::Camera1394::BayerMethod_

private

Definition at line 120 of file dev_camera1394.h.

dc1394color_filter_t camera1394::Camera1394::BayerPattern_

private

Definition at line 119 of file dev_camera1394.h.

dc1394camera_t* camera1394::Camera1394::camera_

private

Definition at line 117 of file dev_camera1394.h.

std::string camera1394::Camera1394::device_id_

Definition at line 110 of file dev_camera1394.h.

bool camera1394::Camera1394::DoBayerConversion_

private

Definition at line 121 of file dev_camera1394.h.

boost::shared_ptr<Features> camera1394::Camera1394::features_

Definition at line 111 of file dev_camera1394.h.

Format7 camera1394::Camera1394::format7_

private

Definition at line 122 of file dev_camera1394.h.

boost::shared_ptr<Registers> camera1394::Camera1394::registers_

Definition at line 112 of file dev_camera1394.h.

float camera1394::Camera1394::time_offset_

private

Definition at line 124 of file dev_camera1394.h.

bool camera1394::Camera1394::use_ros_time_

private

Definition at line 123 of file dev_camera1394.h.

dc1394video_mode_t camera1394::Camera1394::videoMode_

private

Definition at line 118 of file dev_camera1394.h.

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

• dev_camera1394.h
• dev_camera1394.cpp