#include <driver1394stereo.h>

Public Member Functions
	Camera1394StereoDriver (ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void	poll (void)
void	setup (void)
void	shutdown (void)
	~Camera1394StereoDriver ()
Private Types
enum	CameraSelector { LEFT = 0, RIGHT = 1 }
Private Member Functions
void	closeCamera ()
bool	openCamera (Config &newconfig)
void	publish (const sensor_msgs::ImagePtr image[NUM_CAMERAS])
bool	read (sensor_msgs::ImagePtr image[NUM_CAMERAS])
void	reconfig (camera1394stereo::Camera1394StereoConfig &newconfig, uint32_t level)
Private Attributes
bool	calibration_matches_ [NUM_CAMERAS]
std::string	camera_name_
ros::NodeHandle	camera_nh_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_ [NUM_CAMERAS]
camera1394stereo::Camera1394StereoConfig	config_
ros::Rate	cycle_
boost::shared_ptr < camera1394stereo::Camera1394Stereo >	dev_
image_transport::CameraPublisher	image_pub_ [NUM_CAMERAS]
boost::shared_ptr < image_transport::ImageTransport >	it_
boost::mutex	mutex_
ros::NodeHandle	priv_nh_
volatile bool	reconfiguring_
ros::NodeHandle	single_camera_nh_ [NUM_CAMERAS]
dynamic_reconfigure::Server < camera1394stereo::Camera1394StereoConfig >	srv_
volatile driver_base::Driver::state_t	state_
Static Private Attributes
static const std::string	CameraSelectorString [NUM_CAMERAS] = {"left","right"}
static const int	NUM_CAMERAS = 2

Detailed Description

Definition at line 60 of file driver1394stereo.h.

Member Enumeration Documentation

enum camera1394stereo_driver::Camera1394StereoDriver::CameraSelector [private]

Enumerator:

LEFT
RIGHT

Definition at line 74 of file driver1394stereo.h.

Constructor & Destructor Documentation

camera1394stereo_driver::Camera1394StereoDriver::Camera1394StereoDriver	(	ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 80 of file driver1394stereo.cpp.

camera1394stereo_driver::Camera1394StereoDriver::~Camera1394StereoDriver ( )

Definition at line 101 of file driver1394stereo.cpp.

Member Function Documentation

void camera1394stereo_driver::Camera1394StereoDriver::closeCamera ( ) [private]

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 108 of file driver1394stereo.cpp.

bool camera1394stereo_driver::Camera1394StereoDriver::openCamera ( Config & newconfig ) [private]

Open the camera device.

Parameters:

newconfig configuration parameters

Returns:: true, if successful

if successful: state_ is Driver::OPENED camera_name_ set to GUID string

Definition at line 127 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::poll ( void )

device poll

Definition at line 188 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::publish ( const sensor_msgs::ImagePtr image[NUM_CAMERAS] ) [private]

Publish camera stream topics

Parameters:

image points to latest camera frame

Definition at line 227 of file driver1394stereo.cpp.

bool camera1394stereo_driver::Camera1394StereoDriver::read ( sensor_msgs::ImagePtr image[NUM_CAMERAS] ) [private]

Read camera data.

Parameters:

image points to camera Image message

Returns:: true if successful, with image filled in

Definition at line 283 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::reconfig	(	camera1394stereo::Camera1394StereoConfig &	newconfig,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:

newconfig	new Config values
level	bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 311 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::setup ( void )

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 406 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::shutdown ( void )

driver termination

Definition at line 413 of file driver1394stereo.cpp.