CameraNode.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Kevin Hallenbeck
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Kevin Hallenbeck nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #ifndef _CAMERA_NODE_H_
00036 #define _CAMERA_NODE_H_
00037 
00038 // ROS communication
00039 #include <ros/ros.h>
00040 #include <ros/package.h>        // finds package paths
00041 #include <sensor_msgs/Image.h>
00042 #include <sensor_msgs/CameraInfo.h>
00043 #include <sensor_msgs/SetCameraInfo.h>
00044 #include <cv_bridge/cv_bridge.h>
00045 #include <image_transport/image_transport.h>
00046 #include <camera_calibration_parsers/parse_ini.h>
00047 
00048 // Dynamic reconfigure
00049 #include <dynamic_reconfigure/server.h>
00050 #include "ueye/monoConfig.h"
00051 
00052 // File IO
00053 #include <sstream>
00054 #include <fstream>
00055 
00056 // ueye::Camera class
00057 #include <ueye/Camera.h>
00058 
00059 namespace ueye
00060 {
00061 
00062 const std::string configFileName(Camera &cam);
00063 
00064 class CameraNode
00065 {
00066 public:
00067   CameraNode(ros::NodeHandle node, ros::NodeHandle private_nh);
00068   ~CameraNode();
00069 
00070 private:
00071   // ROS callbacks
00072   void reconfig(monoConfig &config, uint32_t level);
00073   void timerCallback(const ros::TimerEvent& event);
00074   bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
00075 
00076   void loadIntrinsics();
00077   sensor_msgs::ImagePtr processFrame(IplImage* frame, sensor_msgs::CameraInfoPtr &info);
00078   void publishImage(IplImage * frame);
00079   void startCamera();
00080   void stopCamera();
00081   void closeCamera();
00082   void handlePath(std::string &path);
00083 
00084   dynamic_reconfigure::Server<monoConfig> srv_;
00085   ros::Timer timer_;
00086   sensor_msgs::CameraInfo msg_camera_info_;
00087 
00088   cv_bridge::CvImage converter_;
00089   ueye::Camera cam_;
00090   bool running_;
00091   bool configured_;
00092   bool force_streaming_;
00093   std::string config_path_;
00094   int trigger_mode_;
00095   bool auto_exposure_;
00096   bool auto_gain_;
00097   int zoom_;
00098 
00099   // ROS topics
00100   image_transport::ImageTransport it_;
00101   image_transport::CameraPublisher pub_stream_;
00102   ros::ServiceServer srv_cam_info_;
00103 };
00104 
00105 } // namespace ueye
00106 
00107 #endif // _CAMERA_NODE_H_


ueye
Author(s): Kevin Hallenbeck
autogenerated on Mon Oct 6 2014 08:20:20