#include <nao_camera.h>

Inheritance diagram for naocamera_driver::NaoCameraDriver:

Public Member Functions
	NaoCameraDriver (int argc, char **argv, ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void	poll (void)
void	setup (void)
void	shutdown (void)
	~NaoCameraDriver ()
Private Member Functions
void	closeCamera ()
bool	openCamera (Config &newconfig)
void	publish (const sensor_msgs::ImagePtr &image)
bool	read (sensor_msgs::ImagePtr &image)
void	reconfig (naocamera::NaoCameraConfig &newconfig, uint32_t level)
Private Attributes
bool	calibration_matches_
std::string	camera_name_
ros::NodeHandle	camera_nh_
boost::shared_ptr < AL::ALVideoDeviceProxy >	camera_proxy_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
naocamera::NaoCameraConfig	config_
ros::Rate	cycle_
diagnostic_updater::Updater	diagnostics_
std::string	frame_id_
image_transport::CameraPublisher	image_pub_
boost::shared_ptr < image_transport::ImageTransport >	it_
ros::NodeHandle	priv_nh_
ros::Rate	real_frame_rate_
volatile bool	reconfiguring_
uint32_t	retries_
dynamic_reconfigure::Server < naocamera::NaoCameraConfig >	srv_
volatile driver_base::Driver::state_t	state_
diagnostic_updater::TopicDiagnostic	topic_diagnostics_
double	topic_diagnostics_max_freq_
double	topic_diagnostics_min_freq_

Detailed Description

Definition at line 79 of file nao_camera.h.

Constructor & Destructor Documentation

naocamera_driver::NaoCameraDriver::NaoCameraDriver	(	int	argc,
		char **	argv,
		ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 89 of file nao_camera.cpp.

naocamera_driver::NaoCameraDriver::~NaoCameraDriver ( )

Definition at line 123 of file nao_camera.cpp.

Member Function Documentation

void naocamera_driver::NaoCameraDriver::closeCamera ( ) [private]

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 130 of file nao_camera.cpp.

bool naocamera_driver::NaoCameraDriver::openCamera ( Config & newconfig ) [private]

Open the camera device.

Parameters:

newconfig configuration parameters

Returns:: true, if successful

Postcondition:: diagnostics frequency parameters set

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

Definition at line 152 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::poll ( void )

device poll

Definition at line 219 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::publish ( const sensor_msgs::ImagePtr & image ) [private]

Publish camera stream topics

Parameters:

image points to latest camera frame

Definition at line 274 of file nao_camera.cpp.

bool naocamera_driver::NaoCameraDriver::read ( sensor_msgs::ImagePtr & image ) [private]

Read camera data.

Parameters:

image points to camera Image message

Returns:: true if successful, with image filled in

Definition at line 326 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::reconfig	(	naocamera::NaoCameraConfig &	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 381 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::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 488 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::shutdown ( void )

driver termination

Definition at line 496 of file nao_camera.cpp.