ueye_cam_nodelet.hpp
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00001 /*******************************************************************************
00002 * DO NOT MODIFY - AUTO-GENERATED
00003 *
00004 *
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00047 
00048 #ifndef UEYE_CAM_NODELET_HPP_
00049 #define UEYE_CAM_NODELET_HPP_
00050 
00051 
00052 #include <nodelet/nodelet.h>
00053 #include <dynamic_reconfigure/server.h>
00054 #include <image_transport/image_transport.h>
00055 #include <sensor_msgs/Image.h>
00056 #include <sensor_msgs/CameraInfo.h>
00057 #include <sensor_msgs/SetCameraInfo.h>
00058 #include <ueye_cam/UEyeCamConfig.h>
00059 #include <boost/thread/mutex.hpp>
00060 #include <ueye_cam/ueye_cam_driver.hpp>
00061 
00062 
00063 namespace ueye_cam {
00064 
00065 
00066 typedef dynamic_reconfigure::Server<ueye_cam::UEyeCamConfig> ReconfigureServer;
00067 
00068 
00072 class UEyeCamNodelet : public nodelet::Nodelet, public UEyeCamDriver {
00073 public:
00074   constexpr static unsigned int RECONFIGURE_RUNNING = 0;
00075   constexpr static unsigned int RECONFIGURE_STOP = 1;
00076   constexpr static unsigned int RECONFIGURE_CLOSE = 3;
00077   constexpr static int DEFAULT_IMAGE_WIDTH = 640;  // NOTE: these default values do not matter, as they
00078   constexpr static int DEFAULT_IMAGE_HEIGHT = 480; // are overwritten by queryCamParams() during connectCam()
00079   constexpr static double DEFAULT_EXPOSURE = 33.0;
00080   constexpr static double DEFAULT_FRAME_RATE = 10.0;
00081   constexpr static int DEFAULT_PIXEL_CLOCK = 25;
00082   constexpr static int DEFAULT_FLASH_DURATION = 1000;
00083 
00084   const static std::string DEFAULT_FRAME_NAME;
00085   const static std::string DEFAULT_CAMERA_NAME;
00086   const static std::string DEFAULT_CAMERA_TOPIC;
00087   const static std::string DEFAULT_TIMEOUT_TOPIC;
00088   const static std::string DEFAULT_COLOR_MODE;
00089 
00090 
00091   UEyeCamNodelet();
00092 
00093   virtual ~UEyeCamNodelet();
00094 
00099   virtual void onInit();
00100 
00104   void configCallback(ueye_cam::UEyeCamConfig& config, uint32_t level);
00105 
00106 
00107 protected:
00112   virtual INT syncCamConfig(std::string dft_mode_str = "mono8");
00113 
00117   INT queryCamParams();
00118 
00122   INT parseROSParams(ros::NodeHandle& local_nh);
00123 
00129   virtual INT connectCam();
00130 
00135   virtual INT disconnectCam();
00136 
00141   bool setCamInfo(sensor_msgs::SetCameraInfo::Request& req,
00142       sensor_msgs::SetCameraInfo::Response& rsp);
00143 
00147   void loadIntrinsicsFile();
00148 
00149 
00153   bool saveIntrinsicsFile();
00154 
00158   void frameGrabLoop();
00159   void startFrameGrabber();
00160   void stopFrameGrabber();
00161 
00162   const static std::map<INT, std::string> ENCODING_DICTIONARY;
00168   bool fillMsgData(sensor_msgs::Image& img) const;
00169 
00173   ros::Time getImageTimestamp();
00174 
00178   ros::Time getImageTickTimestamp();
00179 
00180   virtual void handleTimeout();
00181 
00182   std::thread frame_grab_thread_;
00183   bool frame_grab_alive_;
00184 
00185   ReconfigureServer* ros_cfg_;
00186   boost::recursive_mutex ros_cfg_mutex_;
00187   bool cfg_sync_requested_;
00188 
00189   image_transport::CameraPublisher ros_cam_pub_;
00190   sensor_msgs::Image ros_image_;
00191   sensor_msgs::CameraInfo ros_cam_info_;
00192   unsigned int ros_frame_count_;
00193   ros::Publisher timeout_pub_;
00194   unsigned long long int timeout_count_;
00195 
00196   ros::ServiceServer set_cam_info_srv_;
00197 
00198   std::string frame_name_;
00199   std::string cam_topic_;
00200   std::string timeout_topic_;
00201   std::string cam_intr_filename_;
00202   std::string cam_params_filename_; // should be valid UEye INI file
00203   ueye_cam::UEyeCamConfig cam_params_;
00204 
00205   ros::Time init_ros_time_; // for processing frames
00206   uint64_t init_clock_tick_;
00207 
00208   ros::Time init_publish_time_; // for throttling frames from being published (see cfg.output_rate)
00209   uint64_t prev_output_frame_idx_; // see init_publish_time_
00210   boost::mutex output_rate_mutex_;
00211 };
00212 
00213 
00214 } // namespace ueye_cam
00215 
00216 
00217 #endif /* UEYE_CAM_NODELET_HPP_ */


ueye_cam
Author(s): Anqi Xu
autogenerated on Wed Feb 27 2019 03:25:46