48 #ifndef UEYE_CAM_NODELET_HPP_ 49 #define UEYE_CAM_NODELET_HPP_ 53 #include <dynamic_reconfigure/server.h> 55 #include <sensor_msgs/Image.h> 56 #include <sensor_msgs/CameraInfo.h> 57 #include <sensor_msgs/SetCameraInfo.h> 58 #include <ueye_cam/UEyeCamConfig.h> 59 #include <boost/thread/mutex.hpp> 104 void configCallback(ueye_cam::UEyeCamConfig& config, uint32_t level);
112 virtual INT
syncCamConfig(std::string dft_mode_str =
"mono8");
141 bool setCamInfo(sensor_msgs::SetCameraInfo::Request& req,
142 sensor_msgs::SetCameraInfo::Response& rsp);
static constexpr unsigned int RECONFIGURE_STOP
ros::Time getImageTimestamp()
unsigned int ros_frame_count_
void loadIntrinsicsFile()
std::thread frame_grab_thread_
bool fillMsgData(sensor_msgs::Image &img) const
virtual ~UEyeCamNodelet()
static constexpr int DEFAULT_IMAGE_WIDTH
static const std::string DEFAULT_FRAME_NAME
dynamic_reconfigure::Server< ueye_cam::UEyeCamConfig > ReconfigureServer
static constexpr int DEFAULT_PIXEL_CLOCK
ReconfigureServer * ros_cfg_
ros::Publisher timeout_pub_
bool saveIntrinsicsFile()
virtual void handleTimeout()
static constexpr unsigned int RECONFIGURE_RUNNING
boost::mutex output_rate_mutex_
static constexpr int DEFAULT_FLASH_DURATION
static const std::map< INT, std::string > ENCODING_DICTIONARY
static constexpr unsigned int RECONFIGURE_CLOSE
ros::Time init_publish_time_
std::string cam_params_filename_
bool setCamInfo(sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
void configCallback(ueye_cam::UEyeCamConfig &config, uint32_t level)
static const std::string DEFAULT_CAMERA_NAME
virtual INT syncCamConfig(std::string dft_mode_str="mono8")
INT parseROSParams(ros::NodeHandle &local_nh)
boost::recursive_mutex ros_cfg_mutex_
static constexpr double DEFAULT_EXPOSURE
sensor_msgs::Image ros_image_
static const std::string DEFAULT_CAMERA_TOPIC
sensor_msgs::CameraInfo ros_cam_info_
ueye_cam::UEyeCamConfig cam_params_
std::string timeout_topic_
std::string cam_intr_filename_
uint64_t prev_output_frame_idx_
ros::Time getImageTickTimestamp()
unsigned long long int timeout_count_
uint64_t init_clock_tick_
static const std::string DEFAULT_COLOR_MODE
virtual INT disconnectCam()
static constexpr double DEFAULT_FRAME_RATE
static constexpr int DEFAULT_IMAGE_HEIGHT
image_transport::CameraPublisher ros_cam_pub_
static const std::string DEFAULT_TIMEOUT_TOPIC
ros::ServiceServer set_cam_info_srv_