Inheritance diagram for spinnaker_camera_driver::SpinnakerCameraNodelet:

Public Member Functions
	SpinnakerCameraNodelet ()

	~SpinnakerCameraNodelet ()

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 ()

Private Member Functions
void	connectCb ()
	Connection callback to only do work when someone is listening. More...

void	devicePoll ()
	Function for the boost::thread to grabImages and publish them. More...

void	diagCb ()

void	diagPoll ()

void	gainWBCallback (const image_exposure_msgs::ExposureSequence &msg)

void	onInit ()
	Serves as a psuedo constructor for nodelets. More...

void	paramCallback (const spinnaker_camera_driver::SpinnakerConfig &config, uint32_t level)
	Function that allows reconfiguration of the camera. More...

int	readSerialAsHexFromFile (std::string camera_serial_path)
	Reads in the camera serial from a specified file path. The format of the serial is expected to be base 16. More...

Private Attributes
bool	auto_packet_size_
	If true, GigE packet size is automatically determined, otherwise packet_size_ is used: More...

size_t	binning_x_
	Camera Info pixel binning along the image x axis. More...

size_t	binning_y_
	Camera Info pixel binning along the image y axis. More...

sensor_msgs::CameraInfoPtr	ci_
	Camera Info message. More...

std::shared_ptr< camera_info_manager::CameraInfoManager >	cinfo_

spinnaker_camera_driver::SpinnakerConfig	config_
	Configuration: More...

std::mutex	connect_mutex_

std::unique_ptr< DiagnosticsManager >	diag_man

std::shared_ptr< ros::Publisher >	diagnostics_pub_

std::shared_ptr< boost::thread >	diagThread_
	The thread that reads and publishes the diagnostics. More...

bool	do_rectify_

std::string	frame_id_
	Frame id for the camera messages, defaults to 'camera'. More...

double	gain_

std::shared_ptr< image_transport::ImageTransport >	it_

image_transport::CameraPublisher	it_pub_
	CameraInfoManager ROS publisher. More...

double	max_freq_

double	min_freq_

int	packet_delay_
	GigE packet delay: More...

int	packet_size_
	GigE packet size: More...

std::shared_ptr< diagnostic_updater::DiagnosedPublisher< wfov_camera_msgs::WFOVImage > >	pub_
	Diagnosed. More...

std::shared_ptr< boost::thread >	pubThread_
	The thread that reads and publishes the images. More...

size_t	roi_height_
	Camera Info ROI height. More...

size_t	roi_width_
	Camera Info ROI width. More...

size_t	roi_x_offset_
	Camera Info ROI x offset. More...

size_t	roi_y_offset_
	Camera Info ROI y offset. More...

SpinnakerCamera	spinnaker_
	Instance of the SpinnakerCamera library, used to interface with the hardware. More...

std::shared_ptr< dynamic_reconfigure::Server< spinnaker_camera_driver::SpinnakerConfig > >	srv_

ros::Subscriber	sub_
	Subscriber for gain and white balance changes. More...

diagnostic_updater::Updater	updater_
	Handles publishing diagnostics messages. More...

uint16_t	wb_blue_

uint16_t	wb_red_

Additional Inherited Members
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

Detailed Description

Definition at line 78 of file nodelet.cpp.

Constructor & Destructor Documentation

◆ SpinnakerCameraNodelet()

spinnaker_camera_driver::SpinnakerCameraNodelet::SpinnakerCameraNodelet ( )

inline

Definition at line 81 of file nodelet.cpp.

◆ ~SpinnakerCameraNodelet()

spinnaker_camera_driver::SpinnakerCameraNodelet::~SpinnakerCameraNodelet ( )

inline

Definition at line 85 of file nodelet.cpp.

Member Function Documentation

◆ connectCb()

void spinnaker_camera_driver::SpinnakerCameraNodelet::connectCb ( )

inlineprivate

Connection callback to only do work when someone is listening.

This function will connect/disconnect from the camera depending on who is using the output.

Definition at line 188 of file nodelet.cpp.

◆ devicePoll()

void spinnaker_camera_driver::SpinnakerCameraNodelet::devicePoll ( )

inlineprivate

Function for the boost::thread to grabImages and publish them.

This function continues until the thread is interupted. Responsible for getting sensor_msgs::Image and publishing them.

Definition at line 434 of file nodelet.cpp.

◆ diagCb()

void spinnaker_camera_driver::SpinnakerCameraNodelet::diagCb ( )

inlineprivate

Definition at line 173 of file nodelet.cpp.

◆ diagPoll()

void spinnaker_camera_driver::SpinnakerCameraNodelet::diagPoll ( )

inlineprivate

Definition at line 417 of file nodelet.cpp.

◆ gainWBCallback()

void spinnaker_camera_driver::SpinnakerCameraNodelet::gainWBCallback ( const image_exposure_msgs::ExposureSequence & msg )

inlineprivate

Definition at line 647 of file nodelet.cpp.

◆ onInit()

void spinnaker_camera_driver::SpinnakerCameraNodelet::onInit ( )

inlineprivatevirtual

Serves as a psuedo constructor for nodelets.

This function needs to do the MINIMUM amount of work to get the nodelet running. Nodelets should not call blocking functions here.

Implements nodelet::Nodelet.

Definition at line 255 of file nodelet.cpp.

◆ paramCallback()

void spinnaker_camera_driver::SpinnakerCameraNodelet::paramCallback	(	const spinnaker_camera_driver::SpinnakerConfig &	config,
		uint32_t	level
	)

inlineprivate

Function that allows reconfiguration of the camera.

This function serves as a callback for the dynamic reconfigure service. It simply passes the configuration object to the driver to allow the camera to reconfigure.

Parameters

config	camera_library::CameraConfig object passed by reference. Values will be changed to those the driver is currently using.
level	driver_base reconfiguration level. See driver_base/SensorLevels.h for more information.

Definition at line 125 of file nodelet.cpp.

◆ readSerialAsHexFromFile()

int spinnaker_camera_driver::SpinnakerCameraNodelet::readSerialAsHexFromFile ( std::string camera_serial_path )

inlineprivate

Reads in the camera serial from a specified file path. The format of the serial is expected to be base 16.

Parameters

camera_serial_path The path of where to read in the serial from. Generally this is a USB device path to the serial file.

Returns: int The serial number for the given path, 0 if failure.

Definition at line 394 of file nodelet.cpp.

Member Data Documentation

◆ auto_packet_size_

bool spinnaker_camera_driver::SpinnakerCameraNodelet::auto_packet_size_

private

If true, GigE packet size is automatically determined, otherwise packet_size_ is used:

Definition at line 717 of file nodelet.cpp.

◆ binning_x_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::binning_x_

private

Camera Info pixel binning along the image x axis.

Definition at line 706 of file nodelet.cpp.

◆ binning_y_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::binning_y_

private

Camera Info pixel binning along the image y axis.

Definition at line 707 of file nodelet.cpp.

◆ ci_

sensor_msgs::CameraInfoPtr spinnaker_camera_driver::SpinnakerCameraNodelet::ci_

private

Camera Info message.

Definition at line 694 of file nodelet.cpp.

◆ cinfo_

std::shared_ptr<camera_info_manager::CameraInfoManager> spinnaker_camera_driver::SpinnakerCameraNodelet::cinfo_

private

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 676 of file nodelet.cpp.

◆ config_

spinnaker_camera_driver::SpinnakerConfig spinnaker_camera_driver::SpinnakerCameraNodelet::config_

private

Configuration:

Definition at line 724 of file nodelet.cpp.

◆ connect_mutex_

std::mutex spinnaker_camera_driver::SpinnakerCameraNodelet::connect_mutex_

private

Definition at line 687 of file nodelet.cpp.

◆ diag_man

std::unique_ptr<DiagnosticsManager> spinnaker_camera_driver::SpinnakerCameraNodelet::diag_man

private

Definition at line 699 of file nodelet.cpp.

◆ diagnostics_pub_

std::shared_ptr<ros::Publisher> spinnaker_camera_driver::SpinnakerCameraNodelet::diagnostics_pub_

private

Definition at line 680 of file nodelet.cpp.

◆ diagThread_

std::shared_ptr<boost::thread> spinnaker_camera_driver::SpinnakerCameraNodelet::diagThread_

private

The thread that reads and publishes the diagnostics.

Definition at line 697 of file nodelet.cpp.

◆ do_rectify_

bool spinnaker_camera_driver::SpinnakerCameraNodelet::do_rectify_

private

Whether or not to rectify as if part of an image. Set to false if whole image, and true if in ROI mode.

Definition at line 712 of file nodelet.cpp.

◆ frame_id_

std::string spinnaker_camera_driver::SpinnakerCameraNodelet::frame_id_

private

Frame id for the camera messages, defaults to 'camera'.

Definition at line 695 of file nodelet.cpp.

◆ gain_

double spinnaker_camera_driver::SpinnakerCameraNodelet::gain_

private

Definition at line 701 of file nodelet.cpp.

◆ it_

std::shared_ptr<image_transport::ImageTransport> spinnaker_camera_driver::SpinnakerCameraNodelet::it_

private

dynamic_reconfigure::Server in scope. Needed to initialize and keep the ImageTransport in scope.

Definition at line 674 of file nodelet.cpp.

◆ it_pub_

image_transport::CameraPublisher spinnaker_camera_driver::SpinnakerCameraNodelet::it_pub_

private

CameraInfoManager ROS publisher.

Definition at line 678 of file nodelet.cpp.

◆ max_freq_

double spinnaker_camera_driver::SpinnakerCameraNodelet::max_freq_

private

Definition at line 691 of file nodelet.cpp.

◆ min_freq_

double spinnaker_camera_driver::SpinnakerCameraNodelet::min_freq_

private

Definition at line 690 of file nodelet.cpp.

◆ packet_delay_

int spinnaker_camera_driver::SpinnakerCameraNodelet::packet_delay_

private

GigE packet delay:

Definition at line 721 of file nodelet.cpp.

◆ packet_size_

int spinnaker_camera_driver::SpinnakerCameraNodelet::packet_size_

private

GigE packet size:

Definition at line 719 of file nodelet.cpp.

◆ pub_

std::shared_ptr<diagnostic_updater::DiagnosedPublisher<wfov_camera_msgs::WFOVImage> > spinnaker_camera_driver::SpinnakerCameraNodelet::pub_

private

Diagnosed.

Definition at line 679 of file nodelet.cpp.

◆ pubThread_

std::shared_ptr<boost::thread> spinnaker_camera_driver::SpinnakerCameraNodelet::pubThread_

private

The thread that reads and publishes the images.

Definition at line 696 of file nodelet.cpp.

◆ roi_height_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::roi_height_

private

Camera Info ROI height.

Definition at line 710 of file nodelet.cpp.

◆ roi_width_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::roi_width_

private

Camera Info ROI width.

Definition at line 711 of file nodelet.cpp.

◆ roi_x_offset_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::roi_x_offset_

private

Camera Info ROI x offset.

Definition at line 708 of file nodelet.cpp.

◆ roi_y_offset_

size_t spinnaker_camera_driver::SpinnakerCameraNodelet::roi_y_offset_

private

Camera Info ROI y offset.

Definition at line 709 of file nodelet.cpp.

◆ spinnaker_

SpinnakerCamera spinnaker_camera_driver::SpinnakerCameraNodelet::spinnaker_

private

Instance of the SpinnakerCamera library, used to interface with the hardware.

Definition at line 693 of file nodelet.cpp.

◆ srv_

std::shared_ptr<dynamic_reconfigure::Server<spinnaker_camera_driver::SpinnakerConfig> > spinnaker_camera_driver::SpinnakerCameraNodelet::srv_

private

Needed to initialize and keep the

Definition at line 669 of file nodelet.cpp.

◆ sub_

ros::Subscriber spinnaker_camera_driver::SpinnakerCameraNodelet::sub_

private

Subscriber for gain and white balance changes.

publisher, has to be a pointer because of constructor requirements

Definition at line 685 of file nodelet.cpp.

◆ updater_

diagnostic_updater::Updater spinnaker_camera_driver::SpinnakerCameraNodelet::updater_

private

Handles publishing diagnostics messages.

Definition at line 689 of file nodelet.cpp.

◆ wb_blue_

uint16_t spinnaker_camera_driver::SpinnakerCameraNodelet::wb_blue_

private

Definition at line 702 of file nodelet.cpp.

◆ wb_red_

uint16_t spinnaker_camera_driver::SpinnakerCameraNodelet::wb_red_

private

Definition at line 703 of file nodelet.cpp.

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

nodelet.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SpinnakerCameraNodelet()

◆ ~SpinnakerCameraNodelet()

Member Function Documentation

◆ connectCb()

◆ devicePoll()

◆ diagCb()

◆ diagPoll()

◆ gainWBCallback()

◆ onInit()

◆ paramCallback()

◆ readSerialAsHexFromFile()

Member Data Documentation

◆ auto_packet_size_

◆ binning_x_

◆ binning_y_

◆ ci_

◆ cinfo_

◆ config_

◆ connect_mutex_

◆ diag_man

◆ diagnostics_pub_

◆ diagThread_

◆ do_rectify_

◆ frame_id_

◆ gain_

◆ it_

◆ it_pub_

◆ max_freq_

◆ min_freq_

◆ packet_delay_

◆ packet_size_

◆ pub_

◆ pubThread_

◆ roi_height_

◆ roi_width_

◆ roi_x_offset_

◆ roi_y_offset_

◆ spinnaker_

◆ srv_

◆ sub_

◆ updater_

◆ wb_blue_

◆ wb_red_