Node management class. More...

#include <OptrisImager.h>

Inheritance diagram for optris_drivers::OptrisImager:

Public Member Functions
bool	onAutoFlag (AutoFlag::Request &req, AutoFlag::Response &res)

virtual void	onFlagStateChange (evo::EnumFlagState flagstate, void *arg)

bool	onForceFlag (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	onProcessExit (void *arg)

virtual void	onRawFrame (unsigned char *data, int size)

bool	onSetTemperatureRange (TemperatureRange::Request &req, TemperatureRange::Response &res)

virtual void	onThermalFrame (unsigned short image, unsigned int w, unsigned int h, evo::IRFrameMetadata meta, void arg)

void	onTimer (const ros::TimerEvent &event)

virtual void	onVisibleFrame (unsigned char image, unsigned int w, unsigned int h, evo::IRFrameMetadata meta, void arg)

	OptrisImager (evo::IRDevice *dev, evo::IRDeviceParams params)

void	run ()

virtual	~OptrisImager ()

Private Attributes
unsigned char *	_bufferRaw

evo::IRDevice *	_dev

sensor_msgs::TimeReference	_device_timer

ros::Publisher	_flag_pub

evo::IRImager	_imager

unsigned int	_img_cnt

optris_drivers::Temperature	_internal_temperature

ros::ServiceServer	_sAuto

ros::ServiceServer	_sForce

ros::ServiceServer	_sTemp

ros::Publisher	_temp_pub

sensor_msgs::Image	_thermal_image

image_transport::Publisher	_thermal_pub

ros::Publisher	_timer_pub

sensor_msgs::Image	_visible_image

image_transport::Publisher	_visible_pub

Detailed Description

Node management class.

Author: Stefan May (Technische Hochschule Nürnberg Georg Simon Ohm)

Definition at line 26 of file OptrisImager.h.

Constructor & Destructor Documentation

optris_drivers::OptrisImager::OptrisImager	(	evo::IRDevice *	dev,
		evo::IRDeviceParams	params
	)

Constructor

Parameters

[in]	dev	UVC device instance
[in]	params	device parameters

Definition at line 6 of file OptrisImager.cpp.

optris_drivers::OptrisImager::~OptrisImager ( )

virtual

Destructor

Definition at line 55 of file OptrisImager.cpp.

Member Function Documentation

bool optris_drivers::OptrisImager::onAutoFlag	(	AutoFlag::Request &	req,
		AutoFlag::Response &	res
	)

ROS service callback

Definition at line 134 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::onFlagStateChange	(	evo::EnumFlagState	flagstate,
		void *	arg
	)

virtual

Flag state change callback

Parameters

[in]	flagstate	flag state
[in]	arg	user defined data (passed via process method)

Definition at line 120 of file OptrisImager.cpp.

bool optris_drivers::OptrisImager::onForceFlag	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

ROS service callback

Definition at line 141 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::onProcessExit ( void * arg )

virtual

Callback method for synchronizing data. This is the very last method to be called for each raw data set.

Parameters

[in] arg user arguments (passed to process method of IRImager class)

Definition at line 129 of file OptrisImager.cpp.

virtual void optris_drivers::OptrisImager::onRawFrame	(	unsigned char *	data,
		int	size
	)

inlinevirtual

Raw frame callback (not needed in Linux implementations, since timer instance takes care of data acquisition => method is never called).

Parameters

[in]	data	raw data
[in]	size	size of raw data

Definition at line 58 of file OptrisImager.h.

bool optris_drivers::OptrisImager::onSetTemperatureRange	(	TemperatureRange::Request &	req,
		TemperatureRange::Response &	res
	)

ROS service callback

Definition at line 147 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::onThermalFrame	(	unsigned short *	image,
		unsigned int	w,
		unsigned int	h,
		evo::IRFrameMetadata	meta,
		void *	arg
	)

virtual

Thermal frame callback

Parameters

[in]	image	thermal image (for information about the format see IRImager class of libirimager)
[in]	w	width of image
[in]	h	height of image
[in]	meta	Metadata frame
[in]	arg	user defined data (passed via process method)

Definition at line 84 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::onTimer ( const ros::TimerEvent & event )

Timer callback for image grabbing timer

Parameters

[in] event timer event

Definition at line 71 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::onVisibleFrame	(	unsigned char *	image,
		unsigned int	w,
		unsigned int	h,
		evo::IRFrameMetadata	meta,
		void *	arg
	)

virtual

Callback method from image processing library (called at configured frame rate in xml file)

Parameters

[in]	image	RGB image, if BISPECTRAL technology is available
[in]	w	image width
[in]	h	image height
[in]	timestamp	the frame's timestamp
[in]	arg	user defined data (passed via process method)

Definition at line 109 of file OptrisImager.cpp.

void optris_drivers::OptrisImager::run ( )

Blocking run method (calls ros::spin())

Definition at line 60 of file OptrisImager.cpp.

Member Data Documentation

unsigned char* optris_drivers::OptrisImager::_bufferRaw

private

Definition at line 116 of file OptrisImager.h.

evo::IRDevice* optris_drivers::OptrisImager::_dev

private

Definition at line 112 of file OptrisImager.h.

sensor_msgs::TimeReference optris_drivers::OptrisImager::_device_timer

private

Definition at line 122 of file OptrisImager.h.

ros::Publisher optris_drivers::OptrisImager::_flag_pub

private

Definition at line 134 of file OptrisImager.h.

evo::IRImager optris_drivers::OptrisImager::_imager

private

Definition at line 110 of file OptrisImager.h.

unsigned int optris_drivers::OptrisImager::_img_cnt

private

Definition at line 114 of file OptrisImager.h.

optris_drivers::Temperature optris_drivers::OptrisImager::_internal_temperature

private

Definition at line 124 of file OptrisImager.h.

ros::ServiceServer optris_drivers::OptrisImager::_sAuto

private

Definition at line 136 of file OptrisImager.h.

ros::ServiceServer optris_drivers::OptrisImager::_sForce

private

Definition at line 138 of file OptrisImager.h.

ros::ServiceServer optris_drivers::OptrisImager::_sTemp

private

Definition at line 140 of file OptrisImager.h.

ros::Publisher optris_drivers::OptrisImager::_temp_pub

private

Definition at line 130 of file OptrisImager.h.

sensor_msgs::Image optris_drivers::OptrisImager::_thermal_image

private

Definition at line 118 of file OptrisImager.h.

image_transport::Publisher optris_drivers::OptrisImager::_thermal_pub

private

Definition at line 126 of file OptrisImager.h.

ros::Publisher optris_drivers::OptrisImager::_timer_pub

private

Definition at line 132 of file OptrisImager.h.

sensor_msgs::Image optris_drivers::OptrisImager::_visible_image

private

Definition at line 120 of file OptrisImager.h.

image_transport::Publisher optris_drivers::OptrisImager::_visible_pub

private

Definition at line 128 of file OptrisImager.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation