f200_nodelet.cpp

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#include <string>
#include <vector>

#include <realsense_camera/f200_nodelet.h>

PLUGINLIB_EXPORT_CLASS(realsense_camera::F200Nodelet, nodelet::Nodelet)

namespace realsense_camera
{
  /*
   * Initialize the nodelet.
   */
  void F200Nodelet::onInit()
  {
    format_[RS_STREAM_COLOR] = RS_FORMAT_RGB8;
    encoding_[RS_STREAM_COLOR] = sensor_msgs::image_encodings::RGB8;
    cv_type_[RS_STREAM_COLOR] = CV_8UC3;
    unit_step_size_[RS_STREAM_COLOR] = sizeof(unsigned char) * 3;

    format_[RS_STREAM_DEPTH] = RS_FORMAT_Z16;
    encoding_[RS_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
    cv_type_[RS_STREAM_DEPTH] = CV_16UC1;
    unit_step_size_[RS_STREAM_DEPTH] = sizeof(uint16_t);

    format_[RS_STREAM_INFRARED] = RS_FORMAT_Y8;
    encoding_[RS_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_8UC1;
    cv_type_[RS_STREAM_INFRARED] = CV_8UC1;
    unit_step_size_[RS_STREAM_INFRARED] = sizeof(unsigned char);

    max_z_ = F200_MAX_Z;

    SyncNodelet::onInit();
  }

  /*
   * Determine fastest stream -- overrides base class
   */
  void F200Nodelet::setStreams()
  {
    // enable camera streams
    BaseNodelet::setStreams();

    // Find the fastest updating, enabled stream
    fastest_stream_ = RS_STREAM_DEPTH;  // default to depth

    if (fps_[RS_STREAM_COLOR] > fps_[RS_STREAM_DEPTH])
    {
      if (enable_[RS_STREAM_COLOR])
      {
        fastest_stream_ = RS_STREAM_COLOR;
      }
    }
  }

  /*
   * Set Dynamic Reconfigure Server and return the dynamic params.
   */
  std::vector<std::string> F200Nodelet::setDynamicReconfServer()
  {
    dynamic_reconf_server_.reset(new dynamic_reconfigure::Server<realsense_camera::f200_paramsConfig>(pnh_));

    // Get dynamic options from the dynamic reconfigure server.
    realsense_camera::f200_paramsConfig params_config;
    dynamic_reconf_server_->getConfigDefault(params_config);
    std::vector<realsense_camera::f200_paramsConfig::AbstractParamDescriptionConstPtr> param_desc =
        params_config.__getParamDescriptions__();
    std::vector<std::string> dynamic_params;
    for (realsense_camera::f200_paramsConfig::AbstractParamDescriptionConstPtr param_desc_ptr : param_desc)
    {
      dynamic_params.push_back((* param_desc_ptr).name);
    }

    return dynamic_params;
  }

  /*
   * Start Dynamic Reconfigure Callback.
   */
  void F200Nodelet::startDynamicReconfCallback()
  {
    dynamic_reconf_server_->setCallback(boost::bind(&F200Nodelet::configCallback, this, _1, _2));
  }

  /*
   * Get the dynamic param values.
   */
  void F200Nodelet::configCallback(realsense_camera::f200_paramsConfig &config, uint32_t level)
  {
    ROS_INFO_STREAM(nodelet_name_ << " - Setting dynamic camera options");

    // set the depth enable
    BaseNodelet::setDepthEnable(config.enable_depth);

    // Set common options
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.color_backlight_compensation, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.color_brightness, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.color_contrast, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.color_gain, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.color_gamma, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.color_hue, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.color_saturation, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.color_sharpness, 0);
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE,
    config.color_enable_auto_exposure, 0);
    if (config.color_enable_auto_exposure == 0)
    {
      rs_set_device_option(rs_device_, RS_OPTION_COLOR_EXPOSURE, config.color_exposure, 0);
    }
    rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE,
        config.color_enable_auto_white_balance, 0);
    if (config.color_enable_auto_white_balance == 0)
    {
      rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.color_white_balance, 0);
    }

    // Set F200 specific options
    rs_set_device_option(rs_device_, RS_OPTION_F200_LASER_POWER, config.f200_laser_power, 0);
    rs_set_device_option(rs_device_, RS_OPTION_F200_ACCURACY, config.f200_accuracy, 0);
    rs_set_device_option(rs_device_, RS_OPTION_F200_MOTION_RANGE, config.f200_motion_range, 0);
    rs_set_device_option(rs_device_, RS_OPTION_F200_FILTER_OPTION, config.f200_filter_option, 0);
    rs_set_device_option(rs_device_, RS_OPTION_F200_CONFIDENCE_THRESHOLD, config.f200_confidence_threshold, 0);
  }
}  // namespace realsense_camera