PointGreyCamera.h
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00001 /*
00002 This code was developed by the National Robotics Engineering Center (NREC), part of the Robotics Institute at Carnegie Mellon University.
00003 Its development was funded by DARPA under the LS3 program and submitted for public release on June 7th, 2012.
00004 Release was granted on August, 21st 2012 with Distribution Statement "A" (Approved for Public Release, Distribution Unlimited).
00005 
00006 This software is released under a BSD license:
00007 
00008 Copyright (c) 2012, Carnegie Mellon University. All rights reserved.
00009 
00010 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
00011 
00012 Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
00013 Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
00014 Neither the name of the Carnegie Mellon University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
00015 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00016 */
00017 
00018 
00019 
00020 /*-*-C++-*-*/
00032 #ifndef _POINTGREYCAMERA_H_
00033 #define _POINTGREYCAMERA_H_
00034 
00035 #include <sensor_msgs/Image.h> // ROS message header for Image
00036 #include <sensor_msgs/image_encodings.h> // ROS header for the different supported image encoding types
00037 #include <sensor_msgs/fill_image.h>
00038 #include <pointgrey_camera_driver/camera_exceptions.h>
00039 
00040 #include <sstream>
00041 
00042 // Header generated by dynamic_reconfigure
00043 #include <pointgrey_camera_driver/PointGreyConfig.h>
00044 
00045 // FlyCapture SDK from Point Grey
00046 #include "flycapture/FlyCapture2.h"
00047 
00048 
00049 class PointGreyCamera
00050 {
00051 
00052 public:
00053   PointGreyCamera();
00054   ~PointGreyCamera();
00055 
00069   bool setNewConfiguration(pointgrey_camera_driver::PointGreyConfig &config, const uint32_t &level);
00070 
00072   static const uint8_t LEVEL_RECONFIGURE_CLOSE = 3;
00073 
00075   static const uint8_t LEVEL_RECONFIGURE_STOP = 1;
00076 
00078   static const uint8_t LEVEL_RECONFIGURE_RUNNING = 0;
00079 
00087   void connect();
00088 
00094   void disconnect();
00095 
00101   void start();
00102 
00110   bool stop();
00111 
00119   void grabImage(sensor_msgs::Image &image, const std::string &frame_id);
00120 
00121   void grabStereoImage(sensor_msgs::Image &image, const std::string &frame_id, sensor_msgs::Image &second_image, const std::string &second_frame_id);
00122 
00130   void setTimeout(const double &timeout);
00131 
00139   void setDesiredCamera(const uint32_t &id);
00140 
00147   void setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay);
00148 
00149   std::vector<uint32_t> getAttachedCameras();
00150 
00158   float getCameraTemperature();
00159 
00160   void setGain(double &gain);
00161 
00162   void setBRWhiteBalance(bool auto_white_balance, uint16_t &blue, uint16_t &red);
00163 
00164   uint getGain();
00165 
00166   uint getShutter();
00167 
00168   uint getBrightness();
00169 
00170   uint getExposure();
00171 
00172   uint getWhiteBalance();
00173 
00174   uint getROIPosition();
00175 
00176 private:
00177 
00178   uint32_t serial_; 
00179   FlyCapture2::BusManager busMgr_; 
00180   FlyCapture2::Camera cam_; 
00181   FlyCapture2::ImageMetadata metadata_; 
00182 
00183   boost::mutex mutex_; 
00184   volatile bool captureRunning_; 
00185 
00187   bool isColor_;
00188 
00189   // For GigE cameras:
00191   bool auto_packet_size_;
00193   unsigned int packet_size_;
00195   unsigned int packet_delay_;
00196 
00203   void setVideoMode(FlyCapture2::VideoMode &videoMode);
00204 
00218   bool setFormat7(FlyCapture2::Mode &fmt7Mode, FlyCapture2::PixelFormat &fmt7PixFmt, uint16_t &roi_width, uint16_t &roi_height, uint16_t &roi_offset_x, uint16_t &roi_offset_y);
00219 
00230   bool getVideoModeFromString(std::string &vmode, FlyCapture2::VideoMode &vmode_out, FlyCapture2::Mode &fmt7Mode);
00231 
00242   bool getFormat7PixelFormatFromString(std::string &sformat, FlyCapture2::PixelFormat &fmt7PixFmt);
00243 
00244   bool setProperty(const FlyCapture2::PropertyType &type, const bool &autoSet,  unsigned int &valueA,  unsigned int &valueB);
00245 
00259   bool setProperty(const FlyCapture2::PropertyType &type, const bool &autoSet, double &value);
00260 
00271   bool setWhiteBalance(bool& auto_white_balance, uint16_t &blue, uint16_t &red);
00272 
00280   float getCameraFrameRate();
00281 
00295   bool setExternalTrigger(bool &enable, std::string &mode, std::string &source, int32_t &parameter, double &delay, bool &polarityHigh);
00296 
00312   bool setExternalStrobe(bool &enable, const std::string &dest, double &duration, double &delay, bool &polarityHigh);
00313 
00322   void setupGigEPacketSize(FlyCapture2::PGRGuid & guid);
00323 
00333   void setupGigEPacketSize(FlyCapture2::PGRGuid & guid, unsigned int packet_size);
00334 
00344   void setupGigEPacketDelay(FlyCapture2::PGRGuid & guid, unsigned int packet_delay);
00345 
00346 public:
00354   static void handleError(const std::string &prefix, const FlyCapture2::Error &error);
00355 
00356 };
00357 
00358 #endif


pointgrey_camera_driver
Author(s): Chad Rockey
autogenerated on Wed Aug 26 2015 15:32:44