smartek_camera_node.h

Go to the documentation of this file.

#ifndef SMARTEK_CAMERA_NODE_H
#define SMARTEK_CAMERA_NODE_H

#include <ros/ros.h>
#include <camera_info_manager/camera_info_manager.h>
#include <image_transport/image_transport.h>
#include <dynamic_reconfigure/server.h>
#include <timesync/TimestampSynchronizer.h>

#include <smartek_camera/SmartekCameraConfig.h>

#include <gige_cpp/GigEVisionSDK.h>

class SmartekCameraNode {

public:
    SmartekCameraNode();

    ~SmartekCameraNode();

    void run();

private:
    typedef smartek_camera::SmartekCameraConfig Config;
    void reconfigure_callback(Config& config, uint32_t level);
    void publishGigeImage(const gige::IImageBitmapInterface &img, const gige::IImageInfo &imgInfo);
    void processFrames();
    void initTimestampSynchronizer();

    Config config_;
    std::string frame_id_; // ROS tf frame id

    ros::NodeHandle n_;
    ros::NodeHandle np_;

    image_transport::CameraPublisher cameraPublisher_;
    std::unique_ptr<image_transport::ImageTransport> pimageTransport_;
    std::unique_ptr<camera_info_manager::CameraInfoManager> pcameraInfoManager_;
    sensor_msgs::CameraInfo cameraInfo_;

    dynamic_reconfigure::Server<Config>                                 reconfigureServer_;
    dynamic_reconfigure::Server<Config>::CallbackType   reconfigureCallback_;

    bool isCameraConnected_;
    std::string serialNumber_; // when using multiple cameras

    // GigEVisionSDK members
    gige::IDevice m_device_;
    gige::IImageProcAPI m_imageProcApi_;

    gige::IAlgorithm m_colorPipelineAlg_;
    gige::IParams m_colorPipelineParams_;
    gige::IResults m_colorPipelineResults_;
    gige::IImageBitmap m_colorPipelineBitmap_;
    gige::IImageInfo m_imageInfo_;

    TimestampSynchronizer::Options defaultTimesyncOptions_;
    std::unique_ptr<TimestampSynchronizer> ptimestampSynchronizer_;

    bool m_defaultGainNotSet_; // currently not used, maybe necessary for auto-gain control
    double m_defaultGain_;
};

#endif //SMARTEK_CAMERA_NODE_H