#include <driver1394stereo.h>

Public Member Functions
	Camera1394StereoDriver (ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)

void	poll (void)

void	setup (void)

void	shutdown (void)

	~Camera1394StereoDriver ()

Static Public Attributes
static const uint8_t	CLOSED = 0

static const uint8_t	OPENED = 1

static const uint8_t	RUNNING = 2

Private Types
enum	CameraSelector { LEFT =0, RIGHT =1 }

Private Member Functions
void	closeCamera ()

bool	openCamera (Config &newconfig)

void	publish (const sensor_msgs::ImagePtr image[NUM_CAMERAS])

bool	read (sensor_msgs::ImagePtr image[NUM_CAMERAS])

void	reconfig (camera1394stereo::Camera1394StereoConfig &newconfig, uint32_t level)

Private Attributes
bool	calibration_matches_ [NUM_CAMERAS]

std::string	camera_name_

ros::NodeHandle	camera_nh_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	cinfo_ [NUM_CAMERAS]

camera1394stereo::Camera1394StereoConfig	config_

ros::Rate	cycle_

boost::shared_ptr< camera1394stereo::Camera1394Stereo >	dev_

image_transport::CameraPublisher	image_pub_ [NUM_CAMERAS]

boost::shared_ptr< image_transport::ImageTransport >	it_

boost::mutex	mutex_

ros::NodeHandle	priv_nh_

volatile bool	reconfiguring_

ros::NodeHandle	single_camera_nh_ [NUM_CAMERAS]

dynamic_reconfigure::Server< camera1394stereo::Camera1394StereoConfig >	srv_

volatile uint8_t	state_

Static Private Attributes
static const std::string	CameraSelectorString [NUM_CAMERAS] = {"left","right"}

static const int	NUM_CAMERAS = 2

Detailed Description

Definition at line 70 of file driver1394stereo.h.

Member Enumeration Documentation

enum camera1394stereo_driver::Camera1394StereoDriver::CameraSelector

private

Enumerator
LEFT
RIGHT

Definition at line 90 of file driver1394stereo.h.

Constructor & Destructor Documentation

camera1394stereo_driver::Camera1394StereoDriver::Camera1394StereoDriver	(	ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 78 of file driver1394stereo.cpp.

camera1394stereo_driver::Camera1394StereoDriver::~Camera1394StereoDriver ( )

Definition at line 99 of file driver1394stereo.cpp.

Member Function Documentation

void camera1394stereo_driver::Camera1394StereoDriver::closeCamera ( )

private

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 106 of file driver1394stereo.cpp.

bool camera1394stereo_driver::Camera1394StereoDriver::openCamera ( Config & newconfig )

private

Open the camera device.

Parameters

newconfig configuration parameters

Returns: true, if successful

if successful: state_ is Driver::OPENED camera_name_ set to GUID string

Definition at line 125 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::poll ( void )

device poll

Definition at line 186 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::publish ( const sensor_msgs::ImagePtr image[NUM_CAMERAS] )

private

Publish camera stream topics

Parameters

image points to latest camera frame

Definition at line 225 of file driver1394stereo.cpp.

bool camera1394stereo_driver::Camera1394StereoDriver::read ( sensor_msgs::ImagePtr image[NUM_CAMERAS] )

private

Read camera data.

Parameters

image points to camera Image message

Returns: true if successful, with image filled in

Definition at line 281 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::reconfig	(	camera1394stereo::Camera1394StereoConfig &	newconfig,
		uint32_t	level
	)

private

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters

newconfig	new Config values
level	bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 309 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::setup ( void )

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 404 of file driver1394stereo.cpp.

void camera1394stereo_driver::Camera1394StereoDriver::shutdown ( void )

driver termination

Definition at line 411 of file driver1394stereo.cpp.

Member Data Documentation

bool camera1394stereo_driver::Camera1394StereoDriver::calibration_matches_[NUM_CAMERAS]

private

Definition at line 122 of file driver1394stereo.h.

std::string camera1394stereo_driver::Camera1394StereoDriver::camera_name_

private

Definition at line 110 of file driver1394stereo.h.

ros::NodeHandle camera1394stereo_driver::Camera1394StereoDriver::camera_nh_

private

Definition at line 108 of file driver1394stereo.h.

const std::string camera1394stereo_driver::Camera1394StereoDriver::CameraSelectorString = {"left","right"}

staticprivate

Definition at line 92 of file driver1394stereo.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> camera1394stereo_driver::Camera1394StereoDriver::cinfo_[NUM_CAMERAS]

private

camera calibration information

Definition at line 121 of file driver1394stereo.h.

const uint8_t camera1394stereo_driver::Camera1394StereoDriver::CLOSED = 0

static

Definition at line 83 of file driver1394stereo.h.

camera1394stereo::Camera1394StereoConfig camera1394stereo_driver::Camera1394StereoDriver::config_

private

dynamic parameter configuration

Definition at line 116 of file driver1394stereo.h.

ros::Rate camera1394stereo_driver::Camera1394StereoDriver::cycle_

private

Definition at line 118 of file driver1394stereo.h.

boost::shared_ptr<camera1394stereo::Camera1394Stereo> camera1394stereo_driver::Camera1394StereoDriver::dev_

private

libdc1394 camera device interface

Definition at line 113 of file driver1394stereo.h.

image_transport::CameraPublisher camera1394stereo_driver::Camera1394StereoDriver::image_pub_[NUM_CAMERAS]

private

Definition at line 126 of file driver1394stereo.h.

boost::shared_ptr<image_transport::ImageTransport> camera1394stereo_driver::Camera1394StereoDriver::it_

private

image transport interfaces

Definition at line 125 of file driver1394stereo.h.

boost::mutex camera1394stereo_driver::Camera1394StereoDriver::mutex_

private

Non-recursive mutex for serializing callbacks with device polling.

Definition at line 102 of file driver1394stereo.h.

const int camera1394stereo_driver::Camera1394StereoDriver::NUM_CAMERAS = 2

staticprivate

Definition at line 91 of file driver1394stereo.h.

const uint8_t camera1394stereo_driver::Camera1394StereoDriver::OPENED = 1

static

Definition at line 84 of file driver1394stereo.h.

ros::NodeHandle camera1394stereo_driver::Camera1394StereoDriver::priv_nh_

private

Definition at line 107 of file driver1394stereo.h.

volatile bool camera1394stereo_driver::Camera1394StereoDriver::reconfiguring_

private

Definition at line 105 of file driver1394stereo.h.

const uint8_t camera1394stereo_driver::Camera1394StereoDriver::RUNNING = 2

static

Definition at line 85 of file driver1394stereo.h.

ros::NodeHandle camera1394stereo_driver::Camera1394StereoDriver::single_camera_nh_[NUM_CAMERAS]

private

Definition at line 109 of file driver1394stereo.h.

dynamic_reconfigure::Server<camera1394stereo::Camera1394StereoConfig> camera1394stereo_driver::Camera1394StereoDriver::srv_

private

Definition at line 117 of file driver1394stereo.h.

volatile uint8_t camera1394stereo_driver::Camera1394StereoDriver::state_

private

Definition at line 104 of file driver1394stereo.h.

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

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation