driver1394stereo.h
Go to the documentation of this file.
00001 /* -*- mode: C++ -*- */
00002 /* $Id: driver1394.h 35611 2011-01-30 05:49:18Z joq $ */
00003 
00004 /*********************************************************************
00005 * Software License Agreement (BSD License)
00006 *
00007 *  Copyright (c) 2010 Jack O'Quin
00008 *  All rights reserved.
00009 *
00010 *  Redistribution and use in source and binary forms, with or without
00011 *  modification, are permitted provided that the following conditions
00012 *  are met:
00013 *
00014 *   * Redistributions of source code must retain the above copyright
00015 *     notice, this list of conditions and the following disclaimer.
00016 *   * Redistributions in binary form must reproduce the above
00017 *     copyright notice, this list of conditions and the following
00018 *     disclaimer in the documentation and/or other materials provided
00019 *     with the distribution.
00020 *   * Neither the name of the author nor other contributors may be
00021 *     used to endorse or promote products derived from this software
00022 *     without specific prior written permission.
00023 *
00024 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035 *  POSSIBILITY OF SUCH DAMAGE.
00036 *********************************************************************/
00037 
00038 #include <boost/thread/mutex.hpp>
00039 
00040 #include <ros/ros.h>
00041 #include <camera_info_manager/camera_info_manager.h>
00042 #include <driver_base/driver.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include <image_transport/image_transport.h>
00045 #include <sensor_msgs/CameraInfo.h>
00046 
00047 #include "dev_camera1394stereo.h"
00048 #include "camera1394stereo/Camera1394StereoConfig.h"
00049 typedef camera1394stereo::Camera1394StereoConfig Config;
00050 
00057 namespace camera1394stereo_driver
00058 {
00059 
00060 class Camera1394StereoDriver
00061 {
00062 public:
00063 
00064   // public methods
00065   Camera1394StereoDriver(ros::NodeHandle priv_nh,
00066                    ros::NodeHandle camera_nh);
00067   ~Camera1394StereoDriver();
00068   void poll(void);
00069   void setup(void);
00070   void shutdown(void);
00071 
00072 private:
00073 
00074   enum CameraSelector {LEFT=0,RIGHT=1};
00075   static const int NUM_CAMERAS = 2;
00076   static const std::string CameraSelectorString[NUM_CAMERAS]; // = {"left","right"};
00077 
00078   // private methods
00079   void closeCamera();
00080   bool openCamera(Config &newconfig);
00081   void publish(const sensor_msgs::ImagePtr image[NUM_CAMERAS]);
00082   bool read(sensor_msgs::ImagePtr image[NUM_CAMERAS]);
00083   void reconfig(camera1394stereo::Camera1394StereoConfig &newconfig, uint32_t level);
00084 
00086   boost::mutex mutex_;
00087 
00088   volatile driver_base::Driver::state_t state_; // current driver state
00089   volatile bool reconfiguring_;        // true when reconfig() running
00090 
00091   ros::NodeHandle priv_nh_;             // private node handle
00092   ros::NodeHandle camera_nh_;           // camera name space handle
00093   ros::NodeHandle single_camera_nh_[NUM_CAMERAS]; // left/right camera name space handle
00094   std::string camera_name_;             // camera name
00095 
00097   boost::shared_ptr<camera1394stereo::Camera1394Stereo> dev_;
00098 
00100   camera1394stereo::Camera1394StereoConfig config_;
00101   dynamic_reconfigure::Server<camera1394stereo::Camera1394StereoConfig> srv_;
00102   ros::Rate cycle_;                     // polling rate when closed
00103 
00105   boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_[NUM_CAMERAS];
00106   bool calibration_matches_[NUM_CAMERAS];            // CameraInfo matches video mode
00107 
00109   boost::shared_ptr<image_transport::ImageTransport> it_;
00110   image_transport::CameraPublisher image_pub_[NUM_CAMERAS];
00111 
00112 }; // end class Camera1394Driver
00113 
00114 }; // end namespace camera1394_driver


camera1394stereo
Author(s): Joan Pau Beltran (author), Miquel Massot/miquel.massot@uib.cat (maintainer), Pep Lluis Negre/pl.negre@uib.cat (maintainer)
autogenerated on Mon Jan 6 2014 11:09:44