usb_cam::UsbCam Class Reference

#include <usb_cam.h>

Inheritance diagram for usb_cam::UsbCam:

Static Public Member Functions
static UsbCam &	Instance ()
Static Public Member Functions inherited from usb_cam::AbstractV4LUSBCam
static std::vector< capture_format_t > &	get_supported_formats ()

Static Protected Member Functions
static void	frame_timer_callback (const ros::TimerEvent &event)
static bool	service_start_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
static bool	service_stop_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
static bool	service_supported_controls_callback (std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response)
static bool	service_supported_formats_callback (std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response)
Static Protected Member Functions inherited from usb_cam::AbstractV4LUSBCam
static void	adjust_camera ()
static void	close_handlers ()
static bool	decode_ffmpeg (const void *src, int len, camera_image_t *dest)
static bool	init ()
static bool	init_decoder ()
static bool	process_image (const void *src, int len, camera_image_t *dest)
static camera_image_t *	read_frame ()
static void	release_device ()
static void	run_grabber (unsigned int &buffer_size)
static bool	set_v4l_parameter (const std::string &param, bool value)
static bool	set_v4l_parameter (const std::string &param, const std::string &value)
static bool	set_v4l_parameter (const std::string &param, int value)
static bool	set_v4l_parameter (const std::string &param, long value)
static bool	start ()
static bool	start_capture ()
static bool	suspend ()
static void	v4l_query_controls ()

Protected Attributes
ros::Timer	_frame_timer
image_transport::CameraPublisher	_image_pub
image_transport::ImageTransport	_image_transport
sensor_msgs::Image	_img_msg
ros::ServiceServer	_service_start
std::string	_service_start_name
ros::ServiceServer	_service_stop
std::string	_service_stop_name
ros::ServiceServer	_service_supported_controls
ros::ServiceServer	_service_supported_formats
ros::NodeHandle	node
Protected Attributes inherited from usb_cam::AbstractV4LUSBCam
camera_image_t	_image

Static Protected Attributes
static std::string	camera_frame_id = "head_camera"
static camera_info_manager::CameraInfoManager *	camera_info = nullptr
static std::string	camera_info_url = ""
static std::string	camera_name = "head_camera"
static std::string	camera_transport_suffix = "image_raw"
static bool	create_suspended = false
static ros::Timer *	frame_timer = nullptr
static image_transport::CameraPublisher *	image_pub = nullptr
static image_transport::ImageTransport *	image_transport = nullptr
static sensor_msgs::Image *	img_msg = nullptr
static ros::ServiceServer *	service_start = nullptr
static ros::ServiceServer *	service_stop = nullptr
static ros::ServiceServer *	service_supported_controls = nullptr
static ros::ServiceServer *	service_supported_formats = nullptr
Static Protected Attributes inherited from usb_cam::AbstractV4LUSBCam
static AVCodec *	avcodec = nullptr
static AVCodecContext *	avcodec_context = nullptr
static AVFrame *	avframe_camera = nullptr
static int	avframe_camera_size = 0
static AVFrame *	avframe_rgb = nullptr
static int	avframe_rgb_size = 0
static AVDictionary *	avoptions = nullptr
static AVPacket *	avpkt = nullptr
static buffer *	buffers = nullptr
static unsigned int	buffers_count = 0
static bool	capturing = false
static AVCodecID	codec_id = AV_CODEC_ID_NONE
static color_format_t	color_format = COLOR_FORMAT_UNKNOWN
static std::string	color_format_name = "yuv422p"
static std::vector< camera_control_t >	controls = std::vector<camera_control_t>()
static const time_t	epoch_time_shift_us = util::get_epoch_time_shift_us()
static int	file_dev = -1
static int	framerate = 10
static bool	full_ffmpeg_log = false
static std::set< std::string >	ignore_controls = std::set<std::string>()
static camera_image_t *	image = nullptr
static int	image_height = 240
static int	image_width = 320
static io_method_t	io_method = io_method_t::IO_METHOD_MMAP
static std::string	io_method_name = "mmap"
static bool	monochrome = false
static pixel_format_t	pixel_format = PIXEL_FORMAT_UNKNOWN
static std::string	pixel_format_name = "uyvy"
static bool	streaming_status = false
static std::vector< capture_format_t >	supported_formats = std::vector<capture_format_t>()
static unsigned int	v4l_pixel_format = V4L2_PIX_FMT_UYVY
static std::string	video_device_name = "/dev/video0"
static struct SwsContext *	video_sws = nullptr

Private Member Functions
UsbCam	operator= (const UsbCam &root)=delete
	UsbCam ()
	UsbCam (const UsbCam &root)=delete
virtual	~UsbCam ()

Additional Inherited Members
Public Member Functions inherited from usb_cam::AbstractV4LUSBCam
virtual	~AbstractV4LUSBCam ()
Protected Member Functions inherited from usb_cam::AbstractV4LUSBCam
	AbstractV4LUSBCam ()
	AbstractV4LUSBCam (const AbstractV4LUSBCam &root)=delete

Detailed Description

Definition at line 86 of file usb_cam.h.

Constructor & Destructor Documentation

UsbCam() [1/2]

UsbCam::UsbCam ( )

explicitprivate

Definition at line 116 of file usb_cam.cpp.

~UsbCam()

UsbCam::~UsbCam ( )

privatevirtual

Definition at line 312 of file usb_cam.cpp.

UsbCam() [2/2]

usb_cam::UsbCam::UsbCam ( const UsbCam &  root )

privatedelete

Member Function Documentation

frame_timer_callback()

void UsbCam::frame_timer_callback ( const ros::TimerEvent &  event )

staticprotected

Definition at line 281 of file usb_cam.cpp.

Instance()

usb_cam::UsbCam & usb_cam::UsbCam::Instance ( )

static

Definition at line 317 of file usb_cam.cpp.

operator=()

UsbCam usb_cam::UsbCam::operator= ( const UsbCam &  root )

privatedelete

service_start_callback()

bool UsbCam::service_start_callback ( std_srvs::Empty::Request &  request, std_srvs::Empty::Response &  response  )

staticprotected

Definition at line 68 of file usb_cam.cpp.

service_stop_callback()

bool UsbCam::service_stop_callback ( std_srvs::Empty::Request &  request, std_srvs::Empty::Response &  response  )

staticprotected

Definition at line 73 of file usb_cam.cpp.

service_supported_controls_callback()

bool UsbCam::service_supported_controls_callback ( std_srvs::Trigger::Request &  request, std_srvs::Trigger::Response &  response  )

staticprotected

Definition at line 101 of file usb_cam.cpp.

service_supported_formats_callback()

bool UsbCam::service_supported_formats_callback ( std_srvs::Trigger::Request &  request, std_srvs::Trigger::Response &  response  )

staticprotected

Definition at line 78 of file usb_cam.cpp.

Member Data Documentation

_frame_timer

ros::Timer usb_cam::UsbCam::_frame_timer

protected

Definition at line 133 of file usb_cam.h.

_image_pub

image_transport::CameraPublisher usb_cam::UsbCam::_image_pub

protected

Definition at line 140 of file usb_cam.h.

_image_transport

image_transport::ImageTransport usb_cam::UsbCam::_image_transport

protected

Definition at line 143 of file usb_cam.h.

_img_msg

sensor_msgs::Image usb_cam::UsbCam::_img_msg

protected

Definition at line 138 of file usb_cam.h.

_service_start

ros::ServiceServer usb_cam::UsbCam::_service_start

protected

Definition at line 148 of file usb_cam.h.

_service_start_name

std::string usb_cam::UsbCam::_service_start_name

protected

Definition at line 147 of file usb_cam.h.

_service_stop

ros::ServiceServer usb_cam::UsbCam::_service_stop

protected

Definition at line 153 of file usb_cam.h.

_service_stop_name

std::string usb_cam::UsbCam::_service_stop_name

protected

Definition at line 152 of file usb_cam.h.

_service_supported_controls

ros::ServiceServer usb_cam::UsbCam::_service_supported_controls

protected

Definition at line 161 of file usb_cam.h.

_service_supported_formats

ros::ServiceServer usb_cam::UsbCam::_service_supported_formats

protected

Definition at line 157 of file usb_cam.h.

camera_frame_id

std::string UsbCam::camera_frame_id = "head_camera"

staticprotected

Definition at line 168 of file usb_cam.h.

camera_info

camera_info_manager::CameraInfoManager * UsbCam::camera_info = nullptr

staticprotected

Definition at line 142 of file usb_cam.h.

camera_info_url

std::string UsbCam::camera_info_url = ""

staticprotected

Definition at line 170 of file usb_cam.h.

camera_name

std::string UsbCam::camera_name = "head_camera"

staticprotected

Definition at line 167 of file usb_cam.h.

camera_transport_suffix

std::string UsbCam::camera_transport_suffix = "image_raw"

staticprotected

Definition at line 169 of file usb_cam.h.

create_suspended

bool UsbCam::create_suspended = false

staticprotected

Definition at line 129 of file usb_cam.h.

frame_timer

ros::Timer * UsbCam::frame_timer = nullptr

staticprotected

Definition at line 134 of file usb_cam.h.

image_pub

image_transport::CameraPublisher * UsbCam::image_pub = nullptr

staticprotected

Definition at line 141 of file usb_cam.h.

image_transport

image_transport::ImageTransport * UsbCam::image_transport = nullptr

staticprotected

Definition at line 144 of file usb_cam.h.

img_msg

sensor_msgs::Image * UsbCam::img_msg = nullptr

staticprotected

Definition at line 139 of file usb_cam.h.

node

ros::NodeHandle usb_cam::UsbCam::node

protected

Definition at line 132 of file usb_cam.h.

service_start

ros::ServiceServer * UsbCam::service_start = nullptr

staticprotected

Definition at line 149 of file usb_cam.h.

service_stop

ros::ServiceServer * UsbCam::service_stop = nullptr

staticprotected

Definition at line 154 of file usb_cam.h.

service_supported_controls

ros::ServiceServer * UsbCam::service_supported_controls = nullptr

staticprotected

Definition at line 162 of file usb_cam.h.

service_supported_formats

ros::ServiceServer * UsbCam::service_supported_formats = nullptr

staticprotected

Definition at line 158 of file usb_cam.h.

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

• usb_cam.h
• usb_cam.cpp