Format7 Class Reference

#include <format7.h>

Public Member Functions
bool	active (void)
bool	checkCameraInfo (const sensor_msgs::CameraInfo &cinfo)
	Format7 ()
void	setOperationalParameters (sensor_msgs::CameraInfo &cinfo)
bool	start (dc1394camera_t *camera, dc1394video_mode_t mode, Config &newconfig)
void	stop (void)
void	unpackData (sensor_msgs::Image &image, uint8_t *capture_buffer)
	~Format7 ()

Private Member Functions
dc1394color_filter_t	findBayerPattern (const char *bayer)

Private Attributes
bool	active_
dc1394color_filter_t	BayerPattern_
uint32_t	binning_x_
uint32_t	binning_y_
dc1394color_coding_t	coding_
uint32_t	maxHeight_
uint32_t	maxWidth_
sensor_msgs::RegionOfInterest	roi_

Detailed Description

Definition at line 63 of file format7.h.

Constructor & Destructor Documentation

Format7::Format7 ( )

inline

Definition at line 67 of file format7.h.

Format7::~Format7 ( )

inline

Definition at line 76 of file format7.h.

Member Function Documentation

bool Format7::active ( void  )

inline

Format7 mode currently started

Definition at line 79 of file format7.h.

bool Format7::checkCameraInfo

(

const sensor_msgs::CameraInfo &

cinfo

)

check whether CameraInfo matches current Format7 image size

Precondition

active_ is true.

Parameters

cinfo

CameraInfo message to check

Returns

true if camera dimensions match calibration

Postcondition

fields filled in (if successful): roi (region of interest) binning_x, binning_y

Definition at line 430 of file format7.cpp.

dc1394color_filter_t Format7::findBayerPattern ( const char *  bayer )

private

returns the DC1394 color filter for the given bayer pattern string

Parameters

bayer

the string describing the pattern (e.g. bggr, rggb, ...)

Returns

the dc1394color_filter_t corresponding to the given string

Definition at line 507 of file format7.cpp.

void Format7::setOperationalParameters

(

sensor_msgs::CameraInfo &

cinfo

)

set operational data fields in CameraInfo message

Precondition

active_ is true.

Parameters

cinfo

CameraInfo message to update

Returns

true if camera dimensions match calibration

Postcondition

fields filled in (if successful): roi (region of interest) binning_x, binning_y

Definition at line 464 of file format7.cpp.

bool Format7::start	(	dc1394camera_t *	camera,
		dc1394video_mode_t	mode,
		Config &	newconfig
	)

Start the 1394 device in Format7 mode

Parameters

	camera	pointer to dc1394camera_t structure.
	mode	currently selected Format7 video mode.
[in,out]	newconfig	new configuration parameters.

Returns

true, if successful.

Postcondition

active_ true, if successful

Todo:

Add some sensible recovery for bad Format7 size.

Definition at line 59 of file format7.cpp.

void Format7::stop

(

void

)

stop Format7 processing

Definition at line 310 of file format7.cpp.

void Format7::unpackData	(	sensor_msgs::Image &	image,
		uint8_t *	capture_buffer
	)

Unpack Format7 data for an Image frame

Definition at line 319 of file format7.cpp.

Member Data Documentation

bool Format7::active_

private

Definition at line 93 of file format7.h.

dc1394color_filter_t Format7::BayerPattern_

private

order of pixels in raw image format

Definition at line 106 of file format7.h.

uint32_t Format7::binning_x_

private

current Format7 video mode binning

Definition at line 102 of file format7.h.

uint32_t Format7::binning_y_

private

Definition at line 103 of file format7.h.

dc1394color_coding_t Format7::coding_

private

Definition at line 94 of file format7.h.

uint32_t Format7::maxHeight_

private

Definition at line 96 of file format7.h.

uint32_t Format7::maxWidth_

private

Definition at line 95 of file format7.h.

sensor_msgs::RegionOfInterest Format7::roi_

private

currently configured region of interest

Definition at line 99 of file format7.h.

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The documentation for this class was generated from the following files:

• format7.h
• format7.cpp