#include <ueye_cam_nodelet.hpp>
Public Member Functions | |
void | configCallback (ueye_cam::UEyeCamConfig &config, uint32_t level) |
virtual void | onInit () |
UEyeCamNodelet () | |
virtual | ~UEyeCamNodelet () |
Public Member Functions inherited from nodelet::Nodelet | |
void | init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL) |
Nodelet () | |
virtual | ~Nodelet () |
Public Member Functions inherited from ueye_cam::UEyeCamDriver | |
virtual INT | connectCam (int new_cam_ID=-1) |
bool | extTriggerModeActive () |
bool | freeRunModeActive () |
bool | getClockTick (uint64_t *tick) |
bool | getTimestamp (UEYETIME *timestamp) |
bool | isCapturing () |
bool | isConnected () |
INT | loadCamConfig (std::string filename, bool ignore_load_failure=true) |
const char * | processNextFrame (UINT timeout_ms) |
INT | setBinning (int &rate, bool reallocate_buffer=true) |
INT | setColorMode (std::string &mode, bool reallocate_buffer=true) |
INT | setExposure (bool &auto_exposure, double &auto_exposure_reference, double &exposure_ms) |
INT | setExtTriggerMode () |
INT | setFlashParams (INT &delay_us, UINT &duration_us) |
INT | setFrameRate (bool &auto_frame_rate, double &frame_rate_hz) |
INT | setFreeRunMode () |
INT | setGain (bool &auto_gain, INT &master_gain_prc, INT &red_gain_prc, INT &green_gain_prc, INT &blue_gain_prc, bool &gain_boost) |
INT | setGpioMode (const INT &gpio, INT &mode, double &pwm_freq, double &pwm_duty_cycle) |
INT | setMirrorLeftRight (bool flip_vertical) |
INT | setMirrorUpsideDown (bool flip_horizontal) |
INT | setPixelClockRate (INT &clock_rate_mhz) |
INT | setResolution (INT &image_width, INT &image_height, INT &image_left, INT &image_top, bool reallocate_buffer=true) |
INT | setSensorScaling (double &rate, bool reallocate_buffer=true) |
INT | setSoftwareGamma (INT &software_gamma) |
INT | setStandbyMode () |
INT | setSubsampling (int &rate, bool reallocate_buffer=true) |
INT | setWhiteBalance (bool &auto_white_balance, INT &red_offset, INT &blue_offset) |
UEyeCamDriver (int cam_ID=ANY_CAMERA, std::string cam_name="camera") | |
virtual | ~UEyeCamDriver () |
Static Public Attributes | |
static const std::string | DEFAULT_CAMERA_NAME = "camera" |
static const std::string | DEFAULT_CAMERA_TOPIC = "image_raw" |
static const std::string | DEFAULT_COLOR_MODE = "" |
static constexpr double | DEFAULT_EXPOSURE = 33.0 |
static constexpr int | DEFAULT_FLASH_DURATION = 1000 |
static const std::string | DEFAULT_FRAME_NAME = "camera" |
static constexpr double | DEFAULT_FRAME_RATE = 10.0 |
static constexpr int | DEFAULT_IMAGE_HEIGHT = 480 |
static constexpr int | DEFAULT_IMAGE_WIDTH = 640 |
static constexpr int | DEFAULT_PIXEL_CLOCK = 25 |
static const std::string | DEFAULT_TIMEOUT_TOPIC = "timeout_count" |
static constexpr unsigned int | RECONFIGURE_CLOSE = 3 |
static constexpr unsigned int | RECONFIGURE_RUNNING = 0 |
static constexpr unsigned int | RECONFIGURE_STOP = 1 |
Static Public Attributes inherited from ueye_cam::UEyeCamDriver | |
static constexpr int | ANY_CAMERA = 0 |
Protected Member Functions | |
virtual INT | connectCam () |
virtual INT | disconnectCam () |
bool | fillMsgData (sensor_msgs::Image &img) const |
void | frameGrabLoop () |
ros::Time | getImageTickTimestamp () |
ros::Time | getImageTimestamp () |
virtual void | handleTimeout () |
void | loadIntrinsicsFile () |
INT | parseROSParams (ros::NodeHandle &local_nh) |
INT | queryCamParams () |
bool | saveIntrinsicsFile () |
bool | setCamInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp) |
void | startFrameGrabber () |
void | stopFrameGrabber () |
virtual INT | syncCamConfig (std::string dft_mode_str="mono8") |
Protected Member Functions inherited from nodelet::Nodelet | |
ros::CallbackQueueInterface & | getMTCallbackQueue () const |
ros::NodeHandle & | getMTNodeHandle () const |
ros::NodeHandle & | getMTPrivateNodeHandle () const |
const V_string & | getMyArgv () const |
const std::string & | getName () const |
ros::NodeHandle & | getNodeHandle () const |
ros::NodeHandle & | getPrivateNodeHandle () const |
const M_string & | getRemappingArgs () const |
ros::CallbackQueueInterface & | getSTCallbackQueue () const |
std::string | getSuffixedName (const std::string &suffix) const |
Protected Member Functions inherited from ueye_cam::UEyeCamDriver | |
INT | reallocateCamBuffer () |
Static Protected Attributes | |
static const std::map< INT, std::string > | ENCODING_DICTIONARY |
Static Protected Attributes inherited from ueye_cam::UEyeCamDriver | |
static const std::map< std::string, INT > | COLOR_DICTIONARY |
Additional Inherited Members | |
Static Public Member Functions inherited from ueye_cam::UEyeCamDriver | |
static INT | colormode2bpp (INT mode) |
static const std::string | colormode2img_enc (INT mode) |
static const std::string | colormode2name (INT mode) |
static const char * | colormode2str (INT mode) |
static const char * | err2str (INT error) |
static const std::function< void *(void *, void *, size_t)> | getUnpackCopyFunc (INT color_mode) |
static bool | isSupportedColorMode (INT mode) |
static INT | name2colormode (const std::string &name) |
static void * | unpack10u (void *dst, void *src, size_t num) |
static void * | unpack12u (void *dst, void *src, size_t num) |
static void * | unpackRGB10 (void *dst, void *src, size_t num) |
ROS interface nodelet for UEye camera API from IDS Imaging Development Systems GMBH.
Definition at line 72 of file ueye_cam_nodelet.hpp.
ueye_cam::UEyeCamNodelet::UEyeCamNodelet | ( | ) |
Definition at line 76 of file ueye_cam_nodelet.cpp.
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Definition at line 129 of file ueye_cam_nodelet.cpp.
void ueye_cam::UEyeCamNodelet::configCallback | ( | ueye_cam::UEyeCamConfig & | config, |
uint32_t | level | ||
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Handles callbacks from dynamic_reconfigure.
Definition at line 633 of file ueye_cam_nodelet.cpp.
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Initializes the camera handle, loads UEye INI configuration, refreshes parameters from camera, loads and sets static ROS parameters, and starts the frame grabber thread.
Definition at line 975 of file ueye_cam_nodelet.cpp.
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Stops the frame grabber thread, closes the camera handle, and releases all local variables.
Reimplemented from ueye_cam::UEyeCamDriver.
Definition at line 996 of file ueye_cam_nodelet.cpp.
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Transfers the current frame content into given sensor_msgs::Image, therefore writes the fields width, height, encoding, step and data of img.
Definition at line 1227 of file ueye_cam_nodelet.cpp.
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Main ROS interface "spin" loop.
Definition at line 1020 of file ueye_cam_nodelet.cpp.
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Returns image's timestamp based on device's internal clock or current wall time if driver call fails.
Definition at line 1317 of file ueye_cam_nodelet.cpp.
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Returns image's timestamp or current wall time if driver call fails.
Definition at line 1293 of file ueye_cam_nodelet.cpp.
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Reimplemented from ueye_cam::UEyeCamDriver.
Definition at line 1327 of file ueye_cam_nodelet.cpp.
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Loads the camera's intrinsic parameters from camIntrFilename.
Definition at line 1272 of file ueye_cam_nodelet.cpp.
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Initializes ROS environment, loads static ROS parameters, initializes UEye camera, and starts live capturing / frame grabbing thread.
Implements nodelet::Nodelet.
Definition at line 142 of file ueye_cam_nodelet.cpp.
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Loads, validates, and updates static ROS parameters.
Definition at line 220 of file ueye_cam_nodelet.cpp.
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Reads parameter values from currently selected camera.
Definition at line 834 of file ueye_cam_nodelet.cpp.
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Saves the camera's intrinsic parameters to camIntrFilename.
Definition at line 1284 of file ueye_cam_nodelet.cpp.
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(ROS Service) Updates the camera's intrinsic parameters over the ROS topic, and saves the parameters to a flatfile.
Definition at line 1008 of file ueye_cam_nodelet.cpp.
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Definition at line 1194 of file ueye_cam_nodelet.cpp.
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Definition at line 1200 of file ueye_cam_nodelet.cpp.
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Calls UEyeCamDriver::syncCamConfig(), then updates ROS camera info and ROS image settings.
Reimplemented from ueye_cam::UEyeCamDriver.
Definition at line 801 of file ueye_cam_nodelet.cpp.
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Definition at line 201 of file ueye_cam_nodelet.hpp.
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Definition at line 203 of file ueye_cam_nodelet.hpp.
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Definition at line 202 of file ueye_cam_nodelet.hpp.
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Definition at line 199 of file ueye_cam_nodelet.hpp.
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Definition at line 187 of file ueye_cam_nodelet.hpp.
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Definition at line 85 of file ueye_cam_nodelet.hpp.
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Definition at line 86 of file ueye_cam_nodelet.hpp.
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Definition at line 88 of file ueye_cam_nodelet.hpp.
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Definition at line 79 of file ueye_cam_nodelet.hpp.
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Definition at line 82 of file ueye_cam_nodelet.hpp.
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Definition at line 84 of file ueye_cam_nodelet.hpp.
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Definition at line 80 of file ueye_cam_nodelet.hpp.
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Definition at line 78 of file ueye_cam_nodelet.hpp.
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Definition at line 77 of file ueye_cam_nodelet.hpp.
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Definition at line 81 of file ueye_cam_nodelet.hpp.
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Definition at line 87 of file ueye_cam_nodelet.hpp.
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Definition at line 162 of file ueye_cam_nodelet.hpp.
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Definition at line 183 of file ueye_cam_nodelet.hpp.
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Definition at line 182 of file ueye_cam_nodelet.hpp.
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Definition at line 198 of file ueye_cam_nodelet.hpp.
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Definition at line 206 of file ueye_cam_nodelet.hpp.
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Definition at line 208 of file ueye_cam_nodelet.hpp.
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Definition at line 205 of file ueye_cam_nodelet.hpp.
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Definition at line 210 of file ueye_cam_nodelet.hpp.
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Definition at line 209 of file ueye_cam_nodelet.hpp.
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Definition at line 76 of file ueye_cam_nodelet.hpp.
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Definition at line 74 of file ueye_cam_nodelet.hpp.
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Definition at line 75 of file ueye_cam_nodelet.hpp.
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Definition at line 191 of file ueye_cam_nodelet.hpp.
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Definition at line 189 of file ueye_cam_nodelet.hpp.
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Definition at line 185 of file ueye_cam_nodelet.hpp.
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Definition at line 186 of file ueye_cam_nodelet.hpp.
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Definition at line 192 of file ueye_cam_nodelet.hpp.
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Definition at line 190 of file ueye_cam_nodelet.hpp.
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Definition at line 196 of file ueye_cam_nodelet.hpp.
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Definition at line 194 of file ueye_cam_nodelet.hpp.
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Definition at line 193 of file ueye_cam_nodelet.hpp.
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Definition at line 200 of file ueye_cam_nodelet.hpp.