stcamera::StParameter Class Reference

Class to handle ROS parameter. More...

#include <stparameter.h>

Public Member Functions
bool	connectAllCamera ()
bool	connectFirstCameraOnly ()
std::string	getCalibrationFile (const ros::NodeHandle &nh, std::string camera_namespace)
std::string	getNamespace (std::string camera_id)
void	loadCameraList (const ros::NodeHandle &nh, std::vector< std::string > &camera_to_connect)
	StParameter ()
virtual	~StParameter ()

Protected Attributes
std::vector< std::string >	vec_camera_to_connect_

Detailed Description

Class to handle ROS parameter.

This class reads camera list parameter and path of calibration file.

Definition at line 51 of file stparameter.h.

Constructor & Destructor Documentation

stcamera::StParameter::StParameter

(

)

Constructor.

Definition at line 35 of file stparameter.cpp.

stcamera::StParameter::~StParameter ( )

virtual

Destructor.

Definition at line 39 of file stparameter.cpp.

Member Function Documentation

bool stcamera::StParameter::connectAllCamera

(

)

Check if the node shall connect to all detected camera.

This function checks if the node shall connect all detected camera.

Returns

True if connect to all detected camera. False otherwise.

Definition at line 95 of file stparameter.cpp.

bool stcamera::StParameter::connectFirstCameraOnly

(

)

Check if the node shall connect to only the first found camera.

This function checks if the node shall connect to only the first found camera.

Returns

True if connect to only the first found camera. False otherwise.

Definition at line 90 of file stparameter.cpp.

std::string stcamera::StParameter::getCalibrationFile	(	const ros::NodeHandle &	nh,
		std::string	camera_namespace
	)

Get calibration file for the given camera.

This function will search for the calibration_file parameter for the given camera namespace. If such parameter does not exist, the value of the default_calibration_file parameter will be used. In case that the parameter also does not exist, empty string is returned.

Parameters

[in]	nh	Node handle of the camera.
[in]	camera_namespace	The camera namespace.

Returns

The full path including filename of calibration file or empty string if not available.

Definition at line 67 of file stparameter.cpp.

std::string stcamera::StParameter::getNamespace

(

std::string

camera_id

)

Obtain the namespace of the given camera identifier.

This function replaces any puctuation in the given camera identifier, which can be in the form of camera ID or MODEL(SERIAL), with under- score '_', so that it complies with ROS namespace.

Parameters

[in]

camera_id

The camera identifier.

Returns

The namespace of the camera.

Definition at line 105 of file stparameter.cpp.

void stcamera::StParameter::loadCameraList	(	const ros::NodeHandle &	nh,
		std::vector< std::string > &	camera_to_connect
	)

Load the camera list.

This function retrieves data from parameter camera_to_connect as a list of allowed camera to connect. The data is kept in variable vec_camera_to_connect_. If there is a special keyword 'all' among the data, the node will attempt to connect to any detected camera. If the parameter does not exist or there is no data, the node will only connect to the first found camera.

Parameters

[in]	nh	Node handle of the main node.
[out]	camera_to_connect	Store the retrieved data excluding the special keyword 'all'.

Definition at line 43 of file stparameter.cpp.

Member Data Documentation

std::vector<std::string> stcamera::StParameter::vec_camera_to_connect_

protected

Store the list of allowed camera to connect, including special key- word 'all' if specified.

Definition at line 124 of file stparameter.h.

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

• stparameter.h
• stparameter.cpp