camera.cpp File Reference

#include "ensenso_camera/camera.h"
#include <cmath>
#include <fstream>
#include <set>
#include <string>
#include <vector>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/distortion_models.h>
#include "pcl_ros/point_cloud.h"
#include "ensenso_camera/helper.h"
#include "ensenso_camera/image_utilities.h"
#include "ensenso_camera/parameters.h"
#include "ensenso_camera/pose_utilities.h"
#include "ensenso_camera/conversion.h"

Include dependency graph for camera.cpp:

Go to the source code of this file.

Macros
#define	FINISH_NXLIB_ACTION(ACTION_NAME)
#define	LOG_NXLIB_EXCEPTION(EXCEPTION)
#define	PREEMPT_ACTION_IF_REQUESTED
#define	START_NXLIB_ACTION(ACTION_NAME, ACTION_SERVER)

Functions
bool	checkNxLibVersion (int major, int minor)

Variables
std::string const	DEFAULT_PARAMETER_SET = "default"
int const	ERROR_CODE_TF = 101
int const	ERROR_CODE_UNKNOWN_EXCEPTION = 100
double const	STATUS_INTERVAL = 3.0
std::string const	TARGET_FRAME_LINK = "Workspace"
double const	TRANSFORMATION_REQUEST_TIMEOUT = 0.1

Macro Definition Documentation

#define FINISH_NXLIB_ACTION

(

ACTION_NAME

)

Value:

} /* NOLINT */                                                                                                       \
  catch (NxLibException & e)                                                                                           \
  {                                                                                                                    \
    ROS_ERROR("NxLibException %d (%s) for item %s", e.getErrorCode(), e.getErrorText().c_str(),                        \
              e.getItemPath().c_str());                                                                                \
    LOG_NXLIB_EXCEPTION(e)                                                                                             \
    ensenso_camera_msgs::ACTION_NAME##Result result;                                                                   \
    result.error.code = e.getErrorCode();                                                                              \
    result.error.message = e.getErrorText();                                                                           \
    server->setAborted(result);                                                                                        \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  catch (tf::TransformException & e)                                                                                   \
  {                                                                                                                    \
    ROS_ERROR("TF Exception: %s", e.what());                                                                           \
    ensenso_camera_msgs::ACTION_NAME##Result result;                                                                   \
    result.error.code = ERROR_CODE_TF;                                                                                 \
    result.error.message = e.what();                                                                                   \
    server->setAborted(result);                                                                                        \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  catch (std::exception & e)                                                                                           \
  {                                                                                                                    \
    ROS_ERROR("Unknown Exception: %s", e.what());                                                                      \
    ensenso_camera_msgs::ACTION_NAME##Result result;                                                                   \
    result.error.code = ERROR_CODE_UNKNOWN_EXCEPTION;                                                                  \
    result.error.message = e.what();                                                                                   \
    server->setAborted(result);                                                                                        \
    return;                                                                                                            \
  }

Definition at line 80 of file camera.cpp.

#define LOG_NXLIB_EXCEPTION

(

EXCEPTION

)

Value:

try                                                                                                                  \
  {                                                                                                                    \
    if (EXCEPTION.getErrorCode() == NxLibExecutionFailed)                                                              \
    {                                                                                                                  \
      NxLibItem executionNode(EXCEPTION.getItemPath());                                                                \
      ROS_ERROR("%s: %s", executionNode[itmResult][itmErrorSymbol].asString().c_str(),                                 \
                executionNode[itmResult][itmErrorText].asString().c_str());                                            \
    } /* NOLINT */                                                                                                     \
  }   /* NOLINT */                                                                                                     \
  catch (...)                                                                                                          \
  {                                                                                                                    \
  } /* NOLINT */                                                                                                       \
  ROS_DEBUG("Current NxLib tree: %s", NxLibItem().asJson(true).c_str());

Definition at line 47 of file camera.cpp.

#define PREEMPT_ACTION_IF_REQUESTED

Value:

if (server->isPreemptRequested())                                                                                    \
  {                                                                                                                    \
    server->setPreempted();                                                                                            \
    return;                                                                                                            \
  }

Definition at line 112 of file camera.cpp.

#define START_NXLIB_ACTION	(		ACTION_NAME,
			ACTION_SERVER
	)

Value:

ROS_DEBUG("Received a " #ACTION_NAME " request.");                                                                   \
  auto& server = ACTION_SERVER;                                                                                        \
  if (server->isPreemptRequested())                                                                                    \
  {                                                                                                                    \
    server->setPreempted();                                                                                            \
    return;                                                                                                            \
  } /* NOLINT */                                                                                                       \
  std::lock_guard<std::mutex> lock(nxLibMutex);                                                                        \
  try                                                                                                                  \
  {

Definition at line 69 of file camera.cpp.

Function Documentation

bool checkNxLibVersion	(	int	major,
		int	minor
	)

Check whether the NxLib has at least the given version.

Definition at line 122 of file camera.cpp.

Variable Documentation

std::string const DEFAULT_PARAMETER_SET = "default"

The name of the parameter set that is used when an action was not given a parameter set explicitly.

Definition at line 35 of file camera.cpp.

int const ERROR_CODE_TF = 101

Definition at line 45 of file camera.cpp.

int const ERROR_CODE_UNKNOWN_EXCEPTION = 100

Definition at line 44 of file camera.cpp.

double const STATUS_INTERVAL = 3.0

The interval at which we publish diagnostic messages containing the camera status.

Definition at line 24 of file camera.cpp.

std::string const TARGET_FRAME_LINK = "Workspace"

The name of the target frame in the NxLib.

Definition at line 40 of file camera.cpp.

double const TRANSFORMATION_REQUEST_TIMEOUT = 0.1

The maximum time that we wait for a tf transformation to become available.

Definition at line 29 of file camera.cpp.