#include "ros/ros.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/TimeReference.h>
#include "std_msgs/Float32.h"
#include "std_srvs/Empty.h"
#include "optris_drivers/AutoFlag.h"
#include "optris_drivers/SwitchTemperatureRange.h"
#include <optris_drivers/Temperature.h>
#include "libirimager/IRImager.h"
#include "libirimager/ImageBuilder.h"
#include <sys/stat.h>

Include dependency graph for optris_imager_node.cpp:

Functions
int	main (int argc, char **argv)
bool	onAutoFlag (optris_drivers::AutoFlag::Request &req, optris_drivers::AutoFlag::Response &res)
bool	onForceFlag (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	onSwitchTemperatureRange (optris_drivers::SwitchTemperatureRange::Request &req, optris_drivers::SwitchTemperatureRange::Response &res)
void	onThermalFrame (unsigned short image, unsigned int w, unsigned int h, long long timestamp, void arg)
void	onVisibleFrame (unsigned char image, unsigned int w, unsigned int h, long long timestamp, void arg)
Variables
optris::IRImager *	_imager
unsigned int	_img_cnt = 0
optris_drivers::Temperature	_internal_temperature
sensor_msgs::TimeReference	_optris_timer
ros::Publisher	_temp_pub
sensor_msgs::Image	_thermal_image
image_transport::Publisher *	_thermal_pub = NULL
ros::Publisher	_timer_pub
sensor_msgs::Image	_visible_image
image_transport::Publisher *	_visible_pub = NULL

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 158 of file optris_imager_node.cpp.

bool onAutoFlag	(	optris_drivers::AutoFlag::Request &	req,
		optris_drivers::AutoFlag::Response &	res
	)

Definition at line 118 of file optris_imager_node.cpp.

bool onForceFlag	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 125 of file optris_imager_node.cpp.

bool onSwitchTemperatureRange	(	optris_drivers::SwitchTemperatureRange::Request &	req,
		optris_drivers::SwitchTemperatureRange::Response &	res
	)

Definition at line 131 of file optris_imager_node.cpp.

void onThermalFrame	(	unsigned short *	image,
		unsigned int	w,
		unsigned int	h,
		long long	timestamp,
		void *	arg
	)

Callback method from image processing library (called at configured frame rate in xml file)

Parameters:

[in]	image	thermal image in unsigned short format, i.e., float temperature = ((float)image[i] -1000.f)/10.f)
[in]	w	image width
[in]	h	image height
[in]	timestamp	the frame's timestamp
[in]	arg	user argument passed to process method

Definition at line 76 of file optris_imager_node.cpp.

void onVisibleFrame	(	unsigned char *	image,
		unsigned int	w,
		unsigned int	h,
		long long	timestamp,
		void *	arg
	)

Callback method from image processing library (called at configured frame rate in xml file)

Parameters:

[in]	image	RGB image, if BISPECTRAL technology is available
[in]	w	image width
[in]	h	image height
[in]	timestamp	the frame's timestamp
[in]	arg	user argument passed to process method