Manages the driver / streamer. More...

#include <streamer.hpp>

Public Member Functions
void	acceptImage (void *ptr)
void	act_on_image ()
void	assignCameraInfo ()
void	assignDefaultCameraInfo ()
bool	configureSerialComms ()
streamerSource *	getMainVideoSource ()
bool	getNucSettingsReading (int &delay, double &diff)
void	getRectification ()
float	getThermistorReading ()
cv::VideoCapture *	getVideoCapture ()
void	handle_camera (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_image (const sensor_msgs::ImageConstPtr &msg_ptr)
void	handle_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_nuc_instruction (const std_msgs::Float32::ConstPtr &nuc_msg)
void	initializeMessages ()
bool	isVideoValid ()
void	markCurrentFrameAsDuplicate ()
int	open_port ()
void	overwriteCameraDims ()
bool	performNuc ()
void	prepareForTermination ()
bool	processFolder ()
bool	processImage ()
void	publishTopics ()
void	refreshCameraAdvertisements ()
void	releaseDevice ()
bool	runBag ()
bool	runDevice ()
bool	runLoad ()
bool	runRead ()
bool	sendSerialCommand (char *command, int max_attempts=1)
void	serialCallback (const ros::TimerEvent &e)
void	serverCallback (thermalvis::streamerConfig &config, uint32_t level)
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
bool	setupDevice ()
void	setValidity (bool val)
double	smoothThermistorReading ()
bool	streamCallback (bool capture=true)
	streamerNode (ros::NodeHandle &nh, streamerData startupData)
void	timerCallback (const ros::TimerEvent &e)
void	updateCameraInfo ()
void	updateCameraInfoExtrinsics ()
void	updateMap ()
void	writeData ()
Public Attributes
CvCapture *	capture
Private Attributes
cv::Mat	_16bitMat
cv::Mat	_16bitMat_pub
cv::Mat	_8bitMat
cv::Mat	_8bitMat_pub
bool	alphaChanged
int	alternateCounter
bool	altStatus
string	callLogFile
sensor_msgs::CameraInfo	camera_info
image_transport::CameraSubscriber	camera_sub
bool	canRadiometricallyCorrect
cv::VideoCapture	cap
bool	centerPrincipalPoint
cScheme	colourMap
cv::Mat	colourMat
cv::Mat	colourMat_pub
streamerData	configData
bool	currentDesiredNucProtectionMode
bool	currentNucProtectionMode
cv_bridge::CvImagePtr	cv_ptr
bool	deviceCreated
ros::Time	dodgeTime
string	duplicatesLogFile
dynamic_reconfigure::Server < thermalvis::streamerConfig > ::CallbackType	f
int	fileCount
int64_t	firmwareTime
bool	firstCall
bool	firstFrame
bool	firstServerCallbackProcessed
cv::Mat	frame
int	frameCounter
double	fusionFactor
camData_	globalCameraInfo
camExtrinsicsData_	globalExtrinsicsData
image_transport::Subscriber	image_sub
ros::Time	image_time
ros::Subscriber	info_sub
ros::Time	info_time
vector< string >	inputList
unsigned long	internal_time
string	internalLogFile
bool	isActuallyGray
image_transport::ImageTransport *	it
double	lastDisplayed
ros::Time	lastFlagReceived
cv::Mat	lastFrame
bool	lastIsDuplicate
double	lastLowerLimit
double	lastMaxDisplayTemp
double	lastMedian
double	lastMinDisplayTemp
ros::Time	lastNucPerformed_at_the_earliest
float	lastThermistorReading
double	lastUpperLimit
int	lastWritten
int	mainfd
streamerSource *	mainVideoSource
cv::Mat	map1
cv::Mat	map2
double	maxVal
double	medianPercentile
double	minVal
sensor_msgs::Image	msg_16bit
sensor_msgs::Image	msg_8bit
sensor_msgs::Image	msg_color
cv::Mat	newImage
double	newMedian
float	newThermistorReading
char	nodeName [256]
cv::Mat	normalizedMat
ros::Subscriber	nuc_management_sub
ofstream	ofs
ofstream	ofs_call_log
ofstream	ofs_duplicates_log
ofstream	ofs_internal_log
ofstream	ofs_retrieve_log
ofstream	ofs_thermistor_log
ofstream	ofs_write_log
double	oldMaxDiff
unsigned long	original_bx
unsigned long	original_by
sensor_msgs::CameraInfo	original_camera_info
ros::Time	original_time
float	originalInternalTime
int	pastMeanIndex
double	pastMeans [256]
bool	performingNuc
cv::Mat	preFilteredMat
image_transport::CameraPublisher	pub_16bit
image_transport::Publisher	pub_16bit_im
image_transport::CameraPublisher	pub_8bit
image_transport::Publisher	pub_8bit_im
image_transport::CameraPublisher	pub_color
image_transport::Publisher	pub_color_im
image_transport::CameraPublisher	pub_republish
image_transport::Publisher	pub_republish_im
rScheme	radMapper
bool	readyToPublish
unsigned int	recordedThermistorReadings
string	retrieveLogFile
cv::Mat	rzMat
cv::Mat	scaled16Mat
ros::Timer	serial_timer
dynamic_reconfigure::Server < thermalvis::streamerConfig >	server
ros::ServiceServer	set_camera_info
bool	settingsDisabled
double	shiftDiff
cv::Mat	smoothedMat
cv::Mat	temperatureMat
cv::Mat	testMat
double	thermistorBuffer [MAX_THERMISTOR_READINGS_TO_STORE][2]
string	thermistorLogFile
ros::Timer	timer
cv::Mat	undistorted
bool	updateDetectorMode
bool	updateNucInterval
bool	updateUSBMode
cv::VideoWriter	vid_writer
bool	videoInitialized
bool	videoValid
bool	wantsToDisableNuc
cv::Mat	workingFrame
int	writeIndex
string	writeLogFile