Inheritance diagram for prosilica_camera::ProsilicaNodelet:

Public Member Functions
	ProsilicaNodelet ()
virtual	~ProsilicaNodelet ()
Private Types
enum	CameraState { OPENING, CAMERA_NOT_FOUND, FORMAT_ERROR, ERROR, OK }
typedef dynamic_reconfigure::Server < prosilica_camera::ProsilicaCameraConfig >	ReconfigureServer
Private Member Functions
bool	frameToImage (tPvFrame *frame, sensor_msgs::Image &image)
std::string	getAvailableCameras ()
void	getCurrentState (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	kill (unsigned long guid)
void	loadIntrinsics ()
virtual void	onInit ()
void	onInitImpl ()
void	openCamera ()
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)
void	publishImage (tPvFrame *frame)
void	publishImage (tPvFrame *frame, ros::Time time)
void	reconfigureCallback (prosilica_camera::ProsilicaCameraConfig &config, uint32_t level)
bool	setCameraInfo (sensor_msgs::SetCameraInfoRequest &req, sensor_msgs::SetCameraInfoResponse &rsp)
void	start ()
void	stop ()
void	syncInCallback (const std_msgs::HeaderConstPtr &msg)
void	updateCallback (const ros::TimerEvent &event)
Private Attributes
bool	auto_adjust_stream_bytes_per_second_
sensor_msgs::CameraInfo	cam_info_
boost::shared_ptr < prosilica::Camera >	camera_
enum prosilica_camera::ProsilicaNodelet::CameraState	camera_state_
boost::recursive_mutex	config_mutex_
int	count_
tPvUint32	dummy
std::string	frame_id_
RollingSum< unsigned long >	frames_completed_acc_
unsigned long	frames_completed_total_
RollingSum< unsigned long >	frames_dropped_acc_
unsigned long	frames_dropped_total_
unsigned long	guid_
std::string	hw_id_
image_transport::CameraPublisher	image_publisher_
sensor_msgs::Image	img_
boost::thread	init_thread_
std::string	intrinsics_
std::string	ip_address_
prosilica_camera::ProsilicaCameraConfig	last_config_
tPvUint32	max_binning_x
tPvUint32	max_binning_y
double	open_camera_retry_period_
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_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
tPvUint32	sensor_height_
tPvUint32	sensor_width_
ros::ServiceServer	set_camera_info_srv_
std::string	state_info_
ros::Time	trig_time_
std::string	trig_timestamp_topic_
int	trigger_mode_
ros::Subscriber	trigger_sub_
double	update_rate_
ros::Timer	update_timer_
diagnostic_updater::Updater	updater
Static Private Attributes
static const int	WINDOW_SIZE = 100

Detailed Description

Definition at line 63 of file prosilica_nodelet.cpp.

Member Typedef Documentation

typedef dynamic_reconfigure::Server<prosilica_camera::ProsilicaCameraConfig> prosilica_camera::ProsilicaNodelet::ReconfigureServer [private]

Definition at line 142 of file prosilica_nodelet.cpp.

Member Enumeration Documentation

enum prosilica_camera::ProsilicaNodelet::CameraState [private]

Enumerator:

OPENING
CAMERA_NOT_FOUND
FORMAT_ERROR
ERROR
OK

Definition at line 146 of file prosilica_nodelet.cpp.

Constructor & Destructor Documentation

virtual prosilica_camera::ProsilicaNodelet::~ProsilicaNodelet ( ) [inline, virtual]

Make sure we interrupt initialization (if it happened to still execute).

Definition at line 68 of file prosilica_nodelet.cpp.

prosilica_camera::ProsilicaNodelet::ProsilicaNodelet ( ) [inline]

Definition at line 95 of file prosilica_nodelet.cpp.

Member Function Documentation

bool prosilica_camera::ProsilicaNodelet::frameToImage	(	tPvFrame *	frame,
		sensor_msgs::Image &	image
	)		`[inline, private]`

Definition at line 609 of file prosilica_nodelet.cpp.

std::string prosilica_camera::ProsilicaNodelet::getAvailableCameras ( ) [inline, private]

Definition at line 316 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::getCurrentState ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, private]

Definition at line 884 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::kill ( unsigned long guid ) [inline, private]

Make sure we interrupt initialization (if it happened to still execute).

Definition at line 422 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::loadIntrinsics ( ) [inline, private]

Definition at line 327 of file prosilica_nodelet.cpp.

virtual void prosilica_camera::ProsilicaNodelet::onInit ( ) [inline, private, virtual]

We will be retrying to open camera until it is open, which may block the thread. Nodelet::onInit() should not block, hence spawning a new thread to do initialization.

Implements nodelet::Nodelet.

Definition at line 165 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::onInitImpl ( ) [inline, private]

initialize prosilica if necessary

Retrieve parameters from server

Definition at line 174 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::openCamera ( ) [inline, private]

Definition at line 235 of file prosilica_nodelet.cpp.

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

Definition at line 500 of file prosilica_nodelet.cpp.

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

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 561 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::publishImage ( tPvFrame * frame ) [inline, private]

Definition at line 443 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::publishImage	(	tPvFrame *	frame,
		ros::Time	time
	)		`[inline, private]`

Definition at line 448 of file prosilica_nodelet.cpp.

void prosilica_camera::ProsilicaNodelet::reconfigureCallback	(	prosilica_camera::ProsilicaCameraConfig &	config,
		uint32_t	level
	)		`[inline, private]`

Trigger mode

Todo:: Replicating logic from polledCallback

If exception thrown due to bad settings, it will fail to start camera Reload last good config

Definition at line 689 of file prosilica_nodelet.cpp.

bool prosilica_camera::ProsilicaNodelet::setCameraInfo	(	sensor_msgs::SetCameraInfoRequest &	req,
		sensor_msgs::SetCameraInfoResponse &	rsp
	)		`[inline, private]`