StereoNode.h

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#ifndef _STEREO_NODE_H_
#define _STEREO_NODE_H_

#include "CameraNode.h"

// ROS communication
#include <ros/ros.h>
#include <ros/package.h>        // finds package paths
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <camera_calibration_parsers/parse_ini.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "ueye/stereoConfig.h"

// File IO
#include <sstream>
#include <fstream>

// ueye::Camera class
#include <ueye/Camera.h>

namespace ueye
{

class StereoNode
{
public:
  StereoNode(ros::NodeHandle node, ros::NodeHandle private_nh);
  ~StereoNode();

private:
  // ROS callbacks
  void reconfig(stereoConfig &config, uint32_t level);
  void reconfigCam(stereoConfig &config, uint32_t level, Camera &cam);
  void timerCallback(const ros::TimerEvent& event);
  void timerForceTrigger(const ros::TimerEvent& event);
  bool setCameraInfoL(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
  bool setCameraInfoR(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
  bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp, Camera& cam,
                     sensor_msgs::CameraInfo &msg_info);

  void loadIntrinsics(Camera &cam, sensor_msgs::CameraInfo &msg_info);
  sensor_msgs::ImagePtr processFrame(IplImage* frame, Camera &cam, cv_bridge::CvImage &converter,
                                     sensor_msgs::CameraInfoPtr &info, sensor_msgs::CameraInfo &msg_info);
  void publishImageL(IplImage * frame);
  void publishImageR(IplImage * frame);
  void startCamera();
  void stopCamera();
  void closeCamera();
  void handlePath(std::string &path);

  dynamic_reconfigure::Server<stereoConfig> srv_;
  ros::Timer timer_;
  ros::Timer timer_force_trigger_;
  sensor_msgs::CameraInfo l_msg_camera_info_, r_msg_camera_info_;

  cv_bridge::CvImage l_converter_, r_converter_;
  ueye::Camera l_cam_, r_cam_;
  bool running_;
  bool configured_;
  bool force_streaming_;
  std::string config_path_;
  int trigger_mode_;
  bool auto_exposure_;
  bool auto_gain_;
  int zoom_;
  ros::Time l_stamp_, r_stamp_;

  // ROS topics
  image_transport::ImageTransport it_;
  image_transport::CameraPublisher l_pub_stream_, r_pub_stream_;
  ros::ServiceServer l_srv_cam_info_, r_srv_cam_info_;
};

} // namespace ueye

#endif // _STEREO_NODE_H_