#include <ueye_cam_nodelet.hpp>

Inheritance diagram for ueye_cam::UEyeCamNodelet:

Public Member Functions
void	configCallback (ueye_cam::UEyeCamConfig &config, uint32_t level)

virtual void	onInit ()

	UEyeCamNodelet ()

virtual	~UEyeCamNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Public Member Functions inherited from ueye_cam::UEyeCamDriver
virtual INT	connectCam (int new_cam_ID=-1)

bool	extTriggerModeActive ()

bool	freeRunModeActive ()

bool	getClockTick (uint64_t *tick)

bool	getTimestamp (UEYETIME *timestamp)

bool	isCapturing ()

bool	isConnected ()

INT	loadCamConfig (std::string filename, bool ignore_load_failure=true)

const char *	processNextFrame (UINT timeout_ms)

INT	setBinning (int &rate, bool reallocate_buffer=true)

INT	setColorMode (std::string &mode, bool reallocate_buffer=true)

INT	setExposure (bool &auto_exposure, double &auto_exposure_reference, double &exposure_ms)

INT	setExtTriggerMode ()

INT	setFlashParams (INT &delay_us, UINT &duration_us)

INT	setFrameRate (bool &auto_frame_rate, double &frame_rate_hz)

INT	setFreeRunMode ()

INT	setGain (bool &auto_gain, INT &master_gain_prc, INT &red_gain_prc, INT &green_gain_prc, INT &blue_gain_prc, bool &gain_boost)

INT	setGpioMode (const INT &gpio, INT &mode, double &pwm_freq, double &pwm_duty_cycle)

INT	setMirrorLeftRight (bool flip_vertical)

INT	setMirrorUpsideDown (bool flip_horizontal)

INT	setPixelClockRate (INT &clock_rate_mhz)

INT	setResolution (INT &image_width, INT &image_height, INT &image_left, INT &image_top, bool reallocate_buffer=true)

INT	setSensorScaling (double &rate, bool reallocate_buffer=true)

INT	setSoftwareGamma (INT &software_gamma)

INT	setStandbyMode ()

INT	setSubsampling (int &rate, bool reallocate_buffer=true)

INT	setWhiteBalance (bool &auto_white_balance, INT &red_offset, INT &blue_offset)

	UEyeCamDriver (int cam_ID=ANY_CAMERA, std::string cam_name="camera")

virtual	~UEyeCamDriver ()

Static Public Attributes
static const std::string	DEFAULT_CAMERA_NAME = "camera"

static const std::string	DEFAULT_CAMERA_TOPIC = "image_raw"

static const std::string	DEFAULT_COLOR_MODE = ""

static constexpr double	DEFAULT_EXPOSURE = 33.0

static constexpr int	DEFAULT_FLASH_DURATION = 1000

static const std::string	DEFAULT_FRAME_NAME = "camera"

static constexpr double	DEFAULT_FRAME_RATE = 10.0

static constexpr int	DEFAULT_IMAGE_HEIGHT = 480

static constexpr int	DEFAULT_IMAGE_WIDTH = 640

static constexpr int	DEFAULT_PIXEL_CLOCK = 25

static const std::string	DEFAULT_TIMEOUT_TOPIC = "timeout_count"

static constexpr unsigned int	RECONFIGURE_CLOSE = 3

static constexpr unsigned int	RECONFIGURE_RUNNING = 0

static constexpr unsigned int	RECONFIGURE_STOP = 1

Static Public Attributes inherited from ueye_cam::UEyeCamDriver
static constexpr int	ANY_CAMERA = 0

Protected Member Functions
virtual INT	connectCam ()

virtual INT	disconnectCam ()

bool	fillMsgData (sensor_msgs::Image &img) const

void	frameGrabLoop ()

ros::Time	getImageTickTimestamp ()

ros::Time	getImageTimestamp ()

virtual void	handleTimeout ()

void	loadIntrinsicsFile ()

INT	parseROSParams (ros::NodeHandle &local_nh)

INT	queryCamParams ()

bool	saveIntrinsicsFile ()

bool	setCamInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)

void	startFrameGrabber ()

void	stopFrameGrabber ()

virtual INT	syncCamConfig (std::string dft_mode_str="mono8")

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from ueye_cam::UEyeCamDriver
INT	reallocateCamBuffer ()

Protected Attributes
std::string	cam_intr_filename_

ueye_cam::UEyeCamConfig	cam_params_

std::string	cam_params_filename_

std::string	cam_topic_

bool	cfg_sync_requested_

bool	frame_grab_alive_

std::thread	frame_grab_thread_

std::string	frame_name_

uint64_t	init_clock_tick_

ros::Time	init_publish_time_

ros::Time	init_ros_time_

boost::mutex	output_rate_mutex_

uint64_t	prev_output_frame_idx_

sensor_msgs::CameraInfo	ros_cam_info_

image_transport::CameraPublisher	ros_cam_pub_

ReconfigureServer *	ros_cfg_

boost::recursive_mutex	ros_cfg_mutex_

unsigned int	ros_frame_count_

sensor_msgs::Image	ros_image_

ros::ServiceServer	set_cam_info_srv_

unsigned long long int	timeout_count_

ros::Publisher	timeout_pub_

std::string	timeout_topic_

Protected Attributes inherited from ueye_cam::UEyeCamDriver
INT	bits_per_pixel_

IS_RECT	cam_aoi_

unsigned int	cam_binning_rate_

char *	cam_buffer_

int	cam_buffer_id_

INT	cam_buffer_pitch_

unsigned int	cam_buffer_size_

HIDS	cam_handle_

int	cam_id_

std::string	cam_name_

SENSORINFO	cam_sensor_info_

double	cam_sensor_scaling_rate_

unsigned int	cam_subsampling_rate_

INT	color_mode_

Static Protected Attributes
static const std::map< INT, std::string >	ENCODING_DICTIONARY

Static Protected Attributes inherited from ueye_cam::UEyeCamDriver
static const std::map< std::string, INT >	COLOR_DICTIONARY

Additional Inherited Members
Static Public Member Functions inherited from ueye_cam::UEyeCamDriver
static INT	colormode2bpp (INT mode)

static const std::string	colormode2img_enc (INT mode)

static const std::string	colormode2name (INT mode)

static const char *	colormode2str (INT mode)

static const char *	err2str (INT error)

static const std::function< void (void , void *, size_t)>	getUnpackCopyFunc (INT color_mode)

static bool	isSupportedColorMode (INT mode)

static INT	name2colormode (const std::string &name)

static void *	unpack10u (void dst, void src, size_t num)

static void *	unpack12u (void dst, void src, size_t num)

static void *	unpackRGB10 (void dst, void src, size_t num)

Detailed Description

ROS interface nodelet for UEye camera API from IDS Imaging Development Systems GMBH.

Definition at line 72 of file ueye_cam_nodelet.hpp.

Constructor & Destructor Documentation

ueye_cam::UEyeCamNodelet::UEyeCamNodelet ( )

Definition at line 76 of file ueye_cam_nodelet.cpp.

ueye_cam::UEyeCamNodelet::~UEyeCamNodelet ( )

virtual

Definition at line 129 of file ueye_cam_nodelet.cpp.

Member Function Documentation

void ueye_cam::UEyeCamNodelet::configCallback	(	ueye_cam::UEyeCamConfig &	config,
		uint32_t	level
	)

Handles callbacks from dynamic_reconfigure.

Definition at line 633 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::connectCam ( )

protectedvirtual

Initializes the camera handle, loads UEye INI configuration, refreshes parameters from camera, loads and sets static ROS parameters, and starts the frame grabber thread.

Definition at line 975 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::disconnectCam ( )

protectedvirtual

Stops the frame grabber thread, closes the camera handle, and releases all local variables.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 996 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::fillMsgData ( sensor_msgs::Image & img ) const

protected

Transfers the current frame content into given sensor_msgs::Image, therefore writes the fields width, height, encoding, step and data of img.

Definition at line 1227 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::frameGrabLoop ( )

protected

Main ROS interface "spin" loop.

Definition at line 1020 of file ueye_cam_nodelet.cpp.

ros::Time ueye_cam::UEyeCamNodelet::getImageTickTimestamp ( )

protected

Returns image's timestamp based on device's internal clock or current wall time if driver call fails.

Definition at line 1317 of file ueye_cam_nodelet.cpp.

ros::Time ueye_cam::UEyeCamNodelet::getImageTimestamp ( )

protected

Returns image's timestamp or current wall time if driver call fails.

Definition at line 1293 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::handleTimeout ( )

protectedvirtual

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 1327 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::loadIntrinsicsFile ( )

protected

Loads the camera's intrinsic parameters from camIntrFilename.

Definition at line 1272 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::onInit ( )

virtual

Initializes ROS environment, loads static ROS parameters, initializes UEye camera, and starts live capturing / frame grabbing thread.

Implements nodelet::Nodelet.

Definition at line 142 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::parseROSParams ( ros::NodeHandle & local_nh )

protected

Loads, validates, and updates static ROS parameters.

Definition at line 220 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::queryCamParams ( )

protected

Reads parameter values from currently selected camera.

Definition at line 834 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::saveIntrinsicsFile ( )

protected

Saves the camera's intrinsic parameters to camIntrFilename.

Definition at line 1284 of file ueye_cam_nodelet.cpp.

bool ueye_cam::UEyeCamNodelet::setCamInfo	(	sensor_msgs::SetCameraInfo::Request &	req,
		sensor_msgs::SetCameraInfo::Response &	rsp
	)

protected

(ROS Service) Updates the camera's intrinsic parameters over the ROS topic, and saves the parameters to a flatfile.

Definition at line 1008 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::startFrameGrabber ( )

protected

Definition at line 1194 of file ueye_cam_nodelet.cpp.

void ueye_cam::UEyeCamNodelet::stopFrameGrabber ( )

protected

Definition at line 1200 of file ueye_cam_nodelet.cpp.

INT ueye_cam::UEyeCamNodelet::syncCamConfig ( std::string dft_mode_str = "mono8" )

protectedvirtual

Calls UEyeCamDriver::syncCamConfig(), then updates ROS camera info and ROS image settings.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 801 of file ueye_cam_nodelet.cpp.

Member Data Documentation

std::string ueye_cam::UEyeCamNodelet::cam_intr_filename_

protected

Definition at line 201 of file ueye_cam_nodelet.hpp.

ueye_cam::UEyeCamConfig ueye_cam::UEyeCamNodelet::cam_params_

protected

Definition at line 203 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::cam_params_filename_

protected

Definition at line 202 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::cam_topic_

protected

Definition at line 199 of file ueye_cam_nodelet.hpp.

bool ueye_cam::UEyeCamNodelet::cfg_sync_requested_

protected

Definition at line 187 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_NAME = "camera"

static

Definition at line 85 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_TOPIC = "image_raw"

static

Definition at line 86 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_COLOR_MODE = ""

static

Definition at line 88 of file ueye_cam_nodelet.hpp.

constexpr double ueye_cam::UEyeCamNodelet::DEFAULT_EXPOSURE = 33.0

static

Definition at line 79 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_FLASH_DURATION = 1000

static

Definition at line 82 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_NAME = "camera"

static

Definition at line 84 of file ueye_cam_nodelet.hpp.

constexpr double ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_RATE = 10.0

static

Definition at line 80 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_HEIGHT = 480

static

Definition at line 78 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_WIDTH = 640

static

Definition at line 77 of file ueye_cam_nodelet.hpp.

constexpr int ueye_cam::UEyeCamNodelet::DEFAULT_PIXEL_CLOCK = 25

static

Definition at line 81 of file ueye_cam_nodelet.hpp.

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_TIMEOUT_TOPIC = "timeout_count"

static

Definition at line 87 of file ueye_cam_nodelet.hpp.

const std::map< INT, std::string > ueye_cam::UEyeCamNodelet::ENCODING_DICTIONARY

staticprotected

Initial value:

= {
    { IS_CM_SENSOR_RAW8, sensor_msgs::image_encodings::BAYER_RGGB8 },
    { IS_CM_SENSOR_RAW10, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW12, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW16, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_MONO8, sensor_msgs::image_encodings::MONO8 },
    { IS_CM_MONO10, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO12, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO16, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_RGB8_PACKED, sensor_msgs::image_encodings::RGB8 },
    { IS_CM_BGR8_PACKED, sensor_msgs::image_encodings::BGR8 },
    { IS_CM_RGB10_PACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_PACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB10_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_UNPACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB12_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR12_UNPACKED, sensor_msgs::image_encodings::BGR16 }
}

Definition at line 162 of file ueye_cam_nodelet.hpp.

bool ueye_cam::UEyeCamNodelet::frame_grab_alive_

protected

Definition at line 183 of file ueye_cam_nodelet.hpp.

std::thread ueye_cam::UEyeCamNodelet::frame_grab_thread_

protected

Definition at line 182 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::frame_name_

protected

Definition at line 198 of file ueye_cam_nodelet.hpp.

uint64_t ueye_cam::UEyeCamNodelet::init_clock_tick_

protected

Definition at line 206 of file ueye_cam_nodelet.hpp.

ros::Time ueye_cam::UEyeCamNodelet::init_publish_time_

protected

Definition at line 208 of file ueye_cam_nodelet.hpp.

ros::Time ueye_cam::UEyeCamNodelet::init_ros_time_

protected

Definition at line 205 of file ueye_cam_nodelet.hpp.

boost::mutex ueye_cam::UEyeCamNodelet::output_rate_mutex_

protected

Definition at line 210 of file ueye_cam_nodelet.hpp.

uint64_t ueye_cam::UEyeCamNodelet::prev_output_frame_idx_

protected

Definition at line 209 of file ueye_cam_nodelet.hpp.

constexpr unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_CLOSE = 3

static

Definition at line 76 of file ueye_cam_nodelet.hpp.

constexpr unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_RUNNING = 0

static

Definition at line 74 of file ueye_cam_nodelet.hpp.

constexpr unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_STOP = 1

static

Definition at line 75 of file ueye_cam_nodelet.hpp.

sensor_msgs::CameraInfo ueye_cam::UEyeCamNodelet::ros_cam_info_

protected

Definition at line 191 of file ueye_cam_nodelet.hpp.

image_transport::CameraPublisher ueye_cam::UEyeCamNodelet::ros_cam_pub_

protected

Definition at line 189 of file ueye_cam_nodelet.hpp.

ReconfigureServer* ueye_cam::UEyeCamNodelet::ros_cfg_

protected

Definition at line 185 of file ueye_cam_nodelet.hpp.

boost::recursive_mutex ueye_cam::UEyeCamNodelet::ros_cfg_mutex_

protected

Definition at line 186 of file ueye_cam_nodelet.hpp.

unsigned int ueye_cam::UEyeCamNodelet::ros_frame_count_

protected

Definition at line 192 of file ueye_cam_nodelet.hpp.

sensor_msgs::Image ueye_cam::UEyeCamNodelet::ros_image_

protected

Definition at line 190 of file ueye_cam_nodelet.hpp.

ros::ServiceServer ueye_cam::UEyeCamNodelet::set_cam_info_srv_

protected

Definition at line 196 of file ueye_cam_nodelet.hpp.

unsigned long long int ueye_cam::UEyeCamNodelet::timeout_count_

protected

Definition at line 194 of file ueye_cam_nodelet.hpp.

ros::Publisher ueye_cam::UEyeCamNodelet::timeout_pub_

protected

Definition at line 193 of file ueye_cam_nodelet.hpp.

std::string ueye_cam::UEyeCamNodelet::timeout_topic_

protected

Definition at line 200 of file ueye_cam_nodelet.hpp.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation