Public Member Functions
void	attributeTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	configure (Config &config, uint32_t level)
void	frameStatistics (diagnostic_updater::DiagnosticStatusWrapper &status)
void	freqStatus (diagnostic_updater::DiagnosticStatusWrapper &status)
void	imageTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	infoTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	loadIntrinsics ()
void	normalizeCallback (tPvFrame *frame)
void	normalizeExposure ()
void	packetErrorStatus (diagnostic_updater::DiagnosticStatusWrapper &status)
void	packetStatistics (diagnostic_updater::DiagnosticStatusWrapper &status)
void	pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)
bool	processFrame (tPvFrame *frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)
	ProsilicaNode (const ros::NodeHandle &node_handle)
void	publishImage (tPvFrame *frame)
void	runDiagnostics ()
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
void	start ()
void	stop ()
void	syncInCallback (const std_msgs::HeaderConstPtr &msg)
	~ProsilicaNode ()
Static Public Member Functions
static bool	frameToImage (tPvFrame *frame, sensor_msgs::Image &image)
Private Types
typedef prosilica_camera::ProsilicaCameraConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Attributes
bool	auto_adjust_stream_bytes_per_second_
boost::scoped_ptr < prosilica::Camera >	cam_
sensor_msgs::CameraInfo	cam_info_
int	consecutive_stable_exposures_
int	count_
double	desired_freq_
diagnostic_updater::Updater	diagnostic_
ros::Timer	diagnostic_timer_
RollingSum< unsigned long >	frames_completed_acc_
unsigned long	frames_completed_total_
RollingSum< unsigned long >	frames_dropped_acc_
unsigned long	frames_dropped_total_
std::string	hw_id_
sensor_msgs::Image	img_
image_transport::ImageTransport	it_
unsigned long	last_exposure_value_
unsigned long	max_data_rate_
ros::NodeHandle	nh_
RollingSum< unsigned long >	packets_missed_acc_
unsigned long	packets_missed_total_
RollingSum< unsigned long >	packets_received_acc_
unsigned long	packets_received_total_
polled_camera::PublicationServer	poll_srv_
ReconfigureServer	reconfigure_server_
bool	running_
boost::shared_ptr < self_test::TestRunner >	self_test_
tPvUint32	sensor_height_
tPvUint32	sensor_width_
ros::ServiceServer	set_camera_info_srv_
image_transport::CameraPublisher	streaming_pub_
ros::Time	trig_time_
std::string	trig_timestamp_topic_
prosilica::FrameStartTriggerMode	trigger_mode_
ros::Subscriber	trigger_sub_
Static Private Attributes
static const int	WINDOW_SIZE = 5

Detailed Description

Todo:: Only stream when subscribed to

Definition at line 67 of file prosilica_node.cpp.

Member Typedef Documentation

typedef prosilica_camera::ProsilicaCameraConfig ProsilicaNode::Config [private]

Definition at line 94 of file prosilica_node.cpp.

typedef dynamic_reconfigure::Server<Config> ProsilicaNode::ReconfigureServer [private]

Definition at line 95 of file prosilica_node.cpp.

Constructor & Destructor Documentation

ProsilicaNode::ProsilicaNode ( const ros::NodeHandle & node_handle ) [inline]

Definition at line 116 of file prosilica_node.cpp.

ProsilicaNode::~ProsilicaNode ( ) [inline]

Definition at line 339 of file prosilica_node.cpp.

Member Function Documentation

void ProsilicaNode::attributeTest ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 825 of file prosilica_node.cpp.

void ProsilicaNode::configure	(	Config &	config,
		uint32_t	level
	)		`[inline]`

Todo:: Tighter bound than this minimal check

Todo:: Replicating logic from polledCallback

Todo:: If exception thrown due to bad settings, will fail to start camera

Definition at line 195 of file prosilica_node.cpp.

void ProsilicaNode::frameStatistics ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 662 of file prosilica_node.cpp.

static bool ProsilicaNode::frameToImage	(	tPvFrame *	frame,
		sensor_msgs::Image &	image
	)		`[inline, static]`

Definition at line 451 of file prosilica_node.cpp.

void ProsilicaNode::freqStatus ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 642 of file prosilica_node.cpp.

void ProsilicaNode::imageTest ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 854 of file prosilica_node.cpp.

void ProsilicaNode::infoTest ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 807 of file prosilica_node.cpp.

void ProsilicaNode::loadIntrinsics ( ) [inline]

Definition at line 533 of file prosilica_node.cpp.

void ProsilicaNode::normalizeCallback ( tPvFrame * frame ) [inline]

Definition at line 601 of file prosilica_node.cpp.

void ProsilicaNode::normalizeExposure ( ) [inline]

Todo:: assert(stopped)

Todo:: thread safety

Definition at line 615 of file prosilica_node.cpp.

void ProsilicaNode::packetErrorStatus ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Definition at line 788 of file prosilica_node.cpp.

void ProsilicaNode::packetStatistics ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline]

Todo:: Something that doesn't oscillate

Definition at line 701 of file prosilica_node.cpp.

void ProsilicaNode::pollCallback	(	polled_camera::GetPolledImage::Request &	req,
		polled_camera::GetPolledImage::Response &	rsp,
		sensor_msgs::Image &	image,
		sensor_msgs::CameraInfo &	info
	)		`[inline]`

Todo:: Would be nice if grab() gave more info

Definition at line 390 of file prosilica_node.cpp.

bool ProsilicaNode::processFrame	(	tPvFrame *	frame,
		sensor_msgs::Image &	img,
		sensor_msgs::CameraInfo &	cam_info
	)		`[inline]`

Todo:: Better trigger timestamp matching

Todo:: Match time stamp from frame to ROS time?

Todo:: Binning values retrieved here may differ from the ones used to actually capture the frame! Maybe need to clear queue when changing binning and/or stuff binning values into context?

Definition at line 485 of file prosilica_node.cpp.

void ProsilicaNode::publishImage ( tPvFrame * frame ) [inline]

Definition at line 527 of file prosilica_node.cpp.

void ProsilicaNode::runDiagnostics ( ) [inline]

Definition at line 636 of file prosilica_node.cpp.