ROS camera abstraction. More...

#include <uvc_ros.h>

Inheritance diagram for V4RCamNode:

[legend]

Public Member Functions
void	publishCamera ()

void	showCameraImage ()

	V4RCamNode (ros::NodeHandle &n)

	~V4RCamNode ()

Public Member Functions inherited from V4RCam
const std::vector< ControlEntryPtr > &	detectControlEnties ()

ControlEntryPtr	getControlEntry (std::string varName)

bool	grab ()
	destructor More...

bool	hasErrorMsg () const

bool	hasInfoMsg () const

FD	initCamera (const std::string &videoDevice="")
	vector of the current supported control entries More...

bool	isBlackListed (int control)

int	load_controls (const std::string &filename)

std::string	pullErrorMsg ()

std::string	pullInfoMsg ()

int	save_controls (const std::string &filename)

int	v4lget (ControlEntryPtr entry)

int	v4lgetInfo (ControlEntryPtr entry)
	v4lcontrols More...

int	v4lset (ControlEntryPtr entry)

int	v4lupdate (ControlEntryPtr entry)

	V4RCam ()
	shared pointer for ControlEntry More...

	~V4RCam ()
	construtor More...

Static Public Attributes
static const int	CONVERT_RAW = 0

static const int	CONVERT_YUV422toBGR = 2

static const int	CONVERT_YUV422toGray = 3

static const int	CONVERT_YUV422toRGB = 1

Static Public Attributes inherited from V4RCam
static const int	ERROR = 1

static const int	LOAD = 1

static const int	NA = 0

static const int	OK = 0

static const int	SAVE = 2

Protected Member Functions
void	callbackSphere (const tuw_uvc::SphereConstPtr &msg)

void	commitRosParamsToV4L (bool force=false)

void	commitV4LToRosParams ()

void	loopCamera ()

void	readCameraControls ()

void	readControlEntryInfo (ControlEntry *entry)

void	readInitParams ()

bool	setCameraInfo (sensor_msgs::SetCameraInfoRequest &req, sensor_msgs::SetCameraInfoResponse &rsp)

void	updateControlEntry (ControlEntry *entry)

void	updateDynamicReconfigureFile (const char *filename) const

void	writeCameraControls ()

Protected Attributes
bool	camera_freeze_

sensor_msgs::Image	cameraImage_

sensor_msgs::CameraInfo	cameraInfo_

image_transport::CameraPublisher	cameraPublisher_

sensor_msgs::Image	cameraThumbnail_

image_transport::Publisher	cameraThumbnailPublisher_

int	convert_image_

bool	generate_dynamic_reconfigure_

image_transport::ImageTransport	imageTransport_

ros::NodeHandle	n_

ros::NodeHandle	n_param_

bool	queueRosParamToV4LCommit_

int	ratioThumbnail_

ros::ServiceServer	set_camera_info_srv_

bool	show_camera_image_

boost::thread	showCameraImageThread_

bool	showCameraImageThreadActive_

ros::Subscriber	subSphere_

Protected Attributes inherited from V4RCam
std::string	aviFilename_
	device name /dev/videoX More...

std::vector< ControlEntryPtr >	controlEntries_
	mutex to secure critical sections More...

double	durationLastFrame_
	time stamp of the last frame More...

std::stringstream	error_msg_

int	format_
	not supported yet More...

float	fps_
	image height More...

int	grabmethod_
	image formate More...

int	height_
	image width More...

std::stringstream	info_msg_

boost::interprocess::interprocess_mutex	mutexImage_
	duration between last and the frame before the last one More...

vdIn *	pVideoIn_

timeval	timeLastFrame_
	frames per second More...

std::string	videoDevice_
	pointer to the v4l2 device More...

int	width_

Additional Inherited Members
Public Types inherited from V4RCam
typedef boost::shared_ptr< ControlEntry >	ControlEntryPtr

typedef int	FD

typedef boost::shared_ptr< v4l2_control >	v4l2_controlPtr

Static Public Member Functions inherited from V4RCam
static char	removeNonAlNum (char in)

Detailed Description

ROS camera abstraction.

Definition at line 34 of file uvc_ros.h.

Constructor & Destructor Documentation

V4RCamNode::V4RCamNode ( ros::NodeHandle & n )

Definition at line 45 of file uvc_ros.cpp.

V4RCamNode::~V4RCamNode ( )

Definition at line 39 of file uvc_ros.cpp.

Member Function Documentation

void V4RCamNode::callbackSphere ( const tuw_uvc::SphereConstPtr & msg )

protected

Definition at line 290 of file uvc_ros.cpp.

void V4RCamNode::commitRosParamsToV4L ( bool force = false )

protected

Definition at line 63 of file uvc_ros.cpp.

void V4RCamNode::commitV4LToRosParams ( )

protected

Definition at line 92 of file uvc_ros.cpp.

void V4RCamNode::loopCamera ( )

protected

void V4RCamNode::publishCamera ( )

Definition at line 183 of file uvc_ros.cpp.

void V4RCamNode::readCameraControls ( )

protected

reads and updates all local control values

Parameters

controls control parameters

void V4RCamNode::readControlEntryInfo ( ControlEntry * entry )

protected

reads a control entr

Parameters

entry control entry

void V4RCamNode::readInitParams ( )

protected

Definition at line 107 of file uvc_ros.cpp.

bool V4RCamNode::setCameraInfo	(	sensor_msgs::SetCameraInfoRequest &	req,
		sensor_msgs::SetCameraInfoResponse &	rsp
	)

protected

Definition at line 297 of file uvc_ros.cpp.

void V4RCamNode::showCameraImage ( )

Definition at line 254 of file uvc_ros.cpp.

void V4RCamNode::updateControlEntry ( ControlEntry * entry )

protected

updates a control entr

Parameters

entry control entry

void V4RCamNode::updateDynamicReconfigureFile ( const char * filename ) const

protected

generates a new reconfigure file

void V4RCamNode::writeCameraControls ( )

protected

writes does parameter which are different to the current ones to the camera

Parameters

control control parameters

Member Data Documentation

bool V4RCamNode::camera_freeze_

protected

Definition at line 60 of file uvc_ros.h.

sensor_msgs::Image V4RCamNode::cameraImage_

protected

Definition at line 52 of file uvc_ros.h.

sensor_msgs::CameraInfo V4RCamNode::cameraInfo_

protected

Definition at line 51 of file uvc_ros.h.

image_transport::CameraPublisher V4RCamNode::cameraPublisher_

protected

Definition at line 49 of file uvc_ros.h.

sensor_msgs::Image V4RCamNode::cameraThumbnail_

protected

Definition at line 53 of file uvc_ros.h.

image_transport::Publisher V4RCamNode::cameraThumbnailPublisher_

protected

Definition at line 50 of file uvc_ros.h.

int V4RCamNode::convert_image_

protected

Definition at line 69 of file uvc_ros.h.

const int V4RCamNode::CONVERT_RAW = 0

static

Definition at line 36 of file uvc_ros.h.

const int V4RCamNode::CONVERT_YUV422toBGR = 2

static

Definition at line 38 of file uvc_ros.h.

const int V4RCamNode::CONVERT_YUV422toGray = 3

static

Definition at line 39 of file uvc_ros.h.

const int V4RCamNode::CONVERT_YUV422toRGB = 1

static

Definition at line 37 of file uvc_ros.h.

bool V4RCamNode::generate_dynamic_reconfigure_

protected

Definition at line 58 of file uvc_ros.h.

image_transport::ImageTransport V4RCamNode::imageTransport_

protected

Definition at line 48 of file uvc_ros.h.

ros::NodeHandle V4RCamNode::n_

protected

Definition at line 46 of file uvc_ros.h.

ros::NodeHandle V4RCamNode::n_param_

protected

Definition at line 47 of file uvc_ros.h.

bool V4RCamNode::queueRosParamToV4LCommit_

protected

Definition at line 61 of file uvc_ros.h.

int V4RCamNode::ratioThumbnail_

protected

Definition at line 70 of file uvc_ros.h.

ros::ServiceServer V4RCamNode::set_camera_info_srv_

protected

Definition at line 54 of file uvc_ros.h.

bool V4RCamNode::show_camera_image_

protected

Definition at line 59 of file uvc_ros.h.

boost::thread V4RCamNode::showCameraImageThread_

protected

Definition at line 63 of file uvc_ros.h.

bool V4RCamNode::showCameraImageThreadActive_

protected

Definition at line 62 of file uvc_ros.h.

ros::Subscriber V4RCamNode::subSphere_

protected

Definition at line 55 of file uvc_ros.h.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation