camera.h File Reference

#include "ensenso_camera/calibration_pattern.h"
#include "ensenso_camera/image_utilities.h"
#include "ensenso_camera/nxlib_version.h"
#include "ensenso_camera/point_cloud_utilities.h"
#include "ensenso_camera/queued_action_server.h"
#include "ensenso_camera/string_helper.h"
#include "ensenso_camera/virtual_object_handler.h"
#include "ensenso_camera/ros2/action_server.h"
#include "ensenso_camera/ros2/core.h"
#include "ensenso_camera/ros2/logging.h"
#include "ensenso_camera/ros2/namespace.h"
#include "ensenso_camera/ros2/node_handle.h"
#include "ensenso_camera/ros2/time.h"
#include "ensenso_camera/ros2/image_transport.h"
#include "ensenso_camera/ros2/diagnostic_msgs/diagnostic_array.h"
#include "ensenso_camera/ros2/ensenso_msgs/access_tree.h"
#include "ensenso_camera/ros2/ensenso_msgs/execute_command.h"
#include "ensenso_camera/ros2/ensenso_msgs/get_parameter.h"
#include "ensenso_camera/ros2/ensenso_msgs/parameter.h"
#include "ensenso_camera/ros2/ensenso_msgs/set_parameter.h"
#include "ensenso_camera/ros2/geometry_msgs/pose_stamped.h"
#include "ensenso_camera/ros2/geometry_msgs/transform_stamped.h"
#include "ensenso_camera/ros2/sensor_msgs/camera_info.h"
#include <tf2/LinearMath/Transform.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <fstream>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
#include "nxLib.h"

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Classes
class	Camera
struct	CameraParameters
struct	ParameterSet

Macros
#define	FINISH_NXLIB_ACTION(ACTION_NAME)
#define	LOG_NXLIB_EXCEPTION(EXCEPTION)
#define	PREEMPT_ACTION_IF_REQUESTED
#define	START_NXLIB_ACTION(ACTION_NAME, ACTION_SERVER)

Variables
const std::string	DEFAULT_PARAMETER_SET = "default"
const int	ERROR_CODE_TF = 101
const int	ERROR_CODE_UNKNOWN_EXCEPTION = 100
const double	POSE_TF_INTERVAL = 1
const double	STATUS_INTERVAL = 3.0
const std::string	TARGET_FRAME_LINK = "Workspace"
const double	TF_REQUEST_TIMEOUT = 10.

Macro Definition Documentation

FINISH_NXLIB_ACTION

#define FINISH_NXLIB_ACTION

(

ACTION_NAME

)

Value:

  } /* NOLINT */                                                                                                       \
  catch (NxLibException & e)                                                                                           \
  {                                                                                                                    \
    ENSENSO_ERROR(nh, "NxLibException %d (%s) for item %s", e.getErrorCode(), e.getErrorText().c_str(),                \
                  e.getItemPath().c_str());                                                                            \
    LOG_NXLIB_EXCEPTION(e)                                                                                             \
    ensenso::action::ACTION_NAME##Result result;                                                                       \
    result.error.code = e.getErrorCode();                                                                              \
    result.error.message = e.getErrorText();                                                                           \
    server->setAborted(std::move(result));                                                                             \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  catch (tf2::TransformException & e)                                                                                  \
  {                                                                                                                    \
    ENSENSO_ERROR(nh, "tf Exception: %s", e.what());                                                                   \
    ensenso::action::ACTION_NAME##Result result;                                                                       \
    result.error.code = ERROR_CODE_TF;                                                                                 \
    result.error.message = e.what();                                                                                   \
    server->setAborted(std::move(result));                                                                             \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  catch (std::exception & e)                                                                                           \
  {                                                                                                                    \
    ENSENSO_ERROR(nh, "Unknown Exception: %s", e.what());                                                              \
    ensenso::action::ACTION_NAME##Result result;                                                                       \
    result.error.code = ERROR_CODE_UNKNOWN_EXCEPTION;                                                                  \
    result.error.message = e.what();                                                                                   \
    server->setAborted(std::move(result));                                                                             \
    return;                                                                                                            \
  }

Definition at line 104 of file camera.h.

LOG_NXLIB_EXCEPTION

#define LOG_NXLIB_EXCEPTION

(

EXCEPTION

)

Value:

  try                                                                                                                  \
  {                                                                                                                    \
    if (EXCEPTION.getErrorCode() == NxLibExecutionFailed)                                                              \
    {                                                                                                                  \
      NxLibItem executionNode(EXCEPTION.getItemPath());                                                                \
      ENSENSO_ERROR(nh, "%s: %s", executionNode[itmResult][itmErrorSymbol].asString().c_str(),                         \
                    executionNode[itmResult][itmErrorText].asString().c_str());                                        \
    } /* NOLINT */                                                                                                     \
  }   /* NOLINT */                                                                                                     \
  catch (...)                                                                                                          \
  {                                                                                                                    \
  } /* NOLINT */                                                                                                       \
  ENSENSO_DEBUG(nh, "Current NxLib tree: %s", NxLibItem().asJson(true).c_str());

Definition at line 74 of file camera.h.

PREEMPT_ACTION_IF_REQUESTED

#define PREEMPT_ACTION_IF_REQUESTED

Value:

  if (server->isPreemptRequested())                                                                                    \
  {                                                                                                                    \
    server->setPreempted();                                                                                            \
    return;                                                                                                            \
  }

Definition at line 136 of file camera.h.

START_NXLIB_ACTION

#define START_NXLIB_ACTION	(		ACTION_NAME,
			ACTION_SERVER
	)

Value:

  ENSENSO_DEBUG(nh, "Received a " #ACTION_NAME " request.");                                                           \
  auto& server = ACTION_SERVER;                                                                                        \
  if (server->isPreemptRequested())                                                                                    \
  {                                                                                                                    \
    server->setPreempted();                                                                                            \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  std::lock_guard<std::mutex> lock(nxLibMutex);                                                                        \
  try                                                                                                                  \
  {

Definition at line 93 of file camera.h.

Variable Documentation

DEFAULT_PARAMETER_SET

const std::string DEFAULT_PARAMETER_SET = "default"

The name of the parameter set that is used when an action was not given a parameter set explicitly.

Definition at line 62 of file camera.h.

ERROR_CODE_TF

const int ERROR_CODE_TF = 101

Definition at line 72 of file camera.h.

ERROR_CODE_UNKNOWN_EXCEPTION

const int ERROR_CODE_UNKNOWN_EXCEPTION = 100

Definition at line 71 of file camera.h.

POSE_TF_INTERVAL

const double POSE_TF_INTERVAL = 1

The interval at which we publish the current tf transform from the camera to the target frame, if a target frame is available.

Definition at line 52 of file camera.h.

STATUS_INTERVAL

const double STATUS_INTERVAL = 3.0

The interval at which we publish diagnostic messages containing the camera status.

Definition at line 46 of file camera.h.

TARGET_FRAME_LINK

const std::string TARGET_FRAME_LINK = "Workspace"

The name of the target frame in the NxLib.

Definition at line 67 of file camera.h.

TF_REQUEST_TIMEOUT

const double TF_REQUEST_TIMEOUT = 10.

The maximum time that we wait for a tf transformation to become available.

Definition at line 57 of file camera.h.