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00047 #ifndef __openni_camera__OPENNICONFIG_H__
00048 #define __openni_camera__OPENNICONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace openni_camera
00058 {
00059 class OpenNIConfigStatics;
00060
00061 class OpenNIConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(OpenNIConfig &config, const OpenNIConfig &max, const OpenNIConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const OpenNIConfig &config1, const OpenNIConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, OpenNIConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const OpenNIConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OpenNIConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const OpenNIConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T OpenNIConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (OpenNIConfig::* field);
00099
00100 virtual void clamp(OpenNIConfig &config, const OpenNIConfig &max, const OpenNIConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const OpenNIConfig &config1, const OpenNIConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, OpenNIConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const OpenNIConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OpenNIConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const OpenNIConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int image_mode;
00138
00139 int debayering;
00140
00141 int depth_mode;
00142
00143 bool depth_registration;
00144
00145 double depth_time_offset;
00146
00147 double image_time_offset;
00148
00149
00150 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00151 {
00152 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00153 int count = 0;
00154 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00155 if ((*i)->fromMessage(msg, *this))
00156 count++;
00157 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00158 {
00159 ROS_ERROR("OpenNIConfig::__fromMessage__ called with an unexpected parameter.");
00160 ROS_ERROR("Booleans:");
00161 for (unsigned int i = 0; i < msg.bools.size(); i++)
00162 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00163 ROS_ERROR("Integers:");
00164 for (unsigned int i = 0; i < msg.ints.size(); i++)
00165 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00166 ROS_ERROR("Doubles:");
00167 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00168 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00169 ROS_ERROR("Strings:");
00170 for (unsigned int i = 0; i < msg.strs.size(); i++)
00171 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00172
00173
00174 return false;
00175 }
00176 return true;
00177 }
00178
00179
00180
00181 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00182 {
00183 dynamic_reconfigure::ConfigTools::clear(msg);
00184 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00185 (*i)->toMessage(msg, *this);
00186 }
00187
00188 void __toMessage__(dynamic_reconfigure::Config &msg) const
00189 {
00190 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00191 __toMessage__(msg, __param_descriptions__);
00192 }
00193
00194 void __toServer__(const ros::NodeHandle &nh) const
00195 {
00196 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00197 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00198 (*i)->toServer(nh, *this);
00199 }
00200
00201 void __fromServer__(const ros::NodeHandle &nh)
00202 {
00203 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00204 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00205 (*i)->fromServer(nh, *this);
00206 }
00207
00208 void __clamp__()
00209 {
00210 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00211 const OpenNIConfig &__max__ = __getMax__();
00212 const OpenNIConfig &__min__ = __getMin__();
00213 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00214 (*i)->clamp(*this, __max__, __min__);
00215 }
00216
00217 uint32_t __level__(const OpenNIConfig &config) const
00218 {
00219 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00220 uint32_t level = 0;
00221 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00222 (*i)->calcLevel(level, config, *this);
00223 return level;
00224 }
00225
00226 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00227 static const OpenNIConfig &__getDefault__();
00228 static const OpenNIConfig &__getMax__();
00229 static const OpenNIConfig &__getMin__();
00230 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00231
00232 private:
00233 static const OpenNIConfigStatics *__get_statics__();
00234 };
00235
00236 template <>
00237 inline void OpenNIConfig::ParamDescription<std::string>::clamp(OpenNIConfig &config, const OpenNIConfig &max, const OpenNIConfig &min) const
00238 {
00239 return;
00240 }
00241
00242 class OpenNIConfigStatics
00243 {
00244 friend class OpenNIConfig;
00245
00246 OpenNIConfigStatics()
00247 {
00248
00249 __min__.image_mode = 1;
00250
00251 __max__.image_mode = 9;
00252
00253 __default__.image_mode = 2;
00254
00255 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<int>("image_mode", "int", 0, "Image output mode for the color/grayscale image", "{'enum_description': 'output mode', 'enum': [{'srcline': 10, 'description': '1280x1024@15Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'SXGA_15Hz'}, {'srcline': 11, 'description': '640x480@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'VGA_30Hz'}, {'srcline': 12, 'description': '640x480@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'VGA_25Hz'}, {'srcline': 13, 'description': '320x240@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_25Hz'}, {'srcline': 14, 'description': '320x240@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 5, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_30Hz'}, {'srcline': 15, 'description': '320x240@60Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 6, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_60Hz'}, {'srcline': 16, 'description': '160x120@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 7, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_25Hz'}, {'srcline': 17, 'description': '160x120@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 8, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_30Hz'}, {'srcline': 18, 'description': '160x120@60Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 9, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_60Hz'}]}", &OpenNIConfig::image_mode)));
00256
00257 __min__.debayering = 0;
00258
00259 __max__.debayering = 2;
00260
00261 __default__.debayering = 0;
00262
00263 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<int>("debayering", "int", 0, "Bayer to RGB algorithm", "{'enum_description': 'Bayer to RGB algorithm selection', 'enum': [{'srcline': 21, 'description': 'Fast debayering algorithm using bilinear interpolation', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 0, 'ctype': 'int', 'type': 'int', 'name': 'Bilinear'}, {'srcline': 22, 'description': 'debayering algorithm using an edge-aware algorithm', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'EdgeAware'}, {'srcline': 23, 'description': 'debayering algorithm using a weighted edge-aware algorithm', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'EdgeAwareWeighted'}]}", &OpenNIConfig::debayering)));
00264
00265 __min__.depth_mode = 2;
00266
00267 __max__.depth_mode = 9;
00268
00269 __default__.depth_mode = 2;
00270
00271 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<int>("depth_mode", "int", 0, "depth output mode", "{'enum_description': 'output mode', 'enum': [{'srcline': 10, 'description': '1280x1024@15Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'SXGA_15Hz'}, {'srcline': 11, 'description': '640x480@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'VGA_30Hz'}, {'srcline': 12, 'description': '640x480@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'VGA_25Hz'}, {'srcline': 13, 'description': '320x240@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_25Hz'}, {'srcline': 14, 'description': '320x240@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 5, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_30Hz'}, {'srcline': 15, 'description': '320x240@60Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 6, 'ctype': 'int', 'type': 'int', 'name': 'QVGA_60Hz'}, {'srcline': 16, 'description': '160x120@25Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 7, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_25Hz'}, {'srcline': 17, 'description': '160x120@30Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 8, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_30Hz'}, {'srcline': 18, 'description': '160x120@60Hz', 'srcfile': '../cfg/OpenNI.cfg', 'cconsttype': 'const int', 'value': 9, 'ctype': 'int', 'type': 'int', 'name': 'QQVGA_60Hz'}]}", &OpenNIConfig::depth_mode)));
00272
00273 __min__.depth_registration = 0;
00274
00275 __max__.depth_registration = 1;
00276
00277 __default__.depth_registration = 0;
00278
00279 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<bool>("depth_registration", "bool", 0, "Depth data registration", "", &OpenNIConfig::depth_registration)));
00280
00281 __min__.depth_time_offset = -1.0;
00282
00283 __max__.depth_time_offset = 1.0;
00284
00285 __default__.depth_time_offset = 0.0;
00286
00287 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<double>("depth_time_offset", "double", 0, "depth image time offset in seconds", "", &OpenNIConfig::depth_time_offset)));
00288
00289 __min__.image_time_offset = -1.0;
00290
00291 __max__.image_time_offset = 1.0;
00292
00293 __default__.image_time_offset = 0.0;
00294
00295 __param_descriptions__.push_back(OpenNIConfig::AbstractParamDescriptionConstPtr(new OpenNIConfig::ParamDescription<double>("image_time_offset", "double", 0, "image time offset in seconds", "", &OpenNIConfig::image_time_offset)));
00296
00297
00298 for (std::vector<OpenNIConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00299 __description_message__.parameters.push_back(**i);
00300 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00301 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00302 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00303 }
00304 std::vector<OpenNIConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00305 OpenNIConfig __max__;
00306 OpenNIConfig __min__;
00307 OpenNIConfig __default__;
00308 dynamic_reconfigure::ConfigDescription __description_message__;
00309 static const OpenNIConfigStatics *get_instance()
00310 {
00311
00312
00313
00314
00315 static OpenNIConfigStatics instance;
00316 return &instance;
00317 }
00318 };
00319
00320 inline const dynamic_reconfigure::ConfigDescription &OpenNIConfig::__getDescriptionMessage__()
00321 {
00322 return __get_statics__()->__description_message__;
00323 }
00324
00325 inline const OpenNIConfig &OpenNIConfig::__getDefault__()
00326 {
00327 return __get_statics__()->__default__;
00328 }
00329
00330 inline const OpenNIConfig &OpenNIConfig::__getMax__()
00331 {
00332 return __get_statics__()->__max__;
00333 }
00334
00335 inline const OpenNIConfig &OpenNIConfig::__getMin__()
00336 {
00337 return __get_statics__()->__min__;
00338 }
00339
00340 inline const std::vector<OpenNIConfig::AbstractParamDescriptionConstPtr> &OpenNIConfig::__getParamDescriptions__()
00341 {
00342 return __get_statics__()->__param_descriptions__;
00343 }
00344
00345 inline const OpenNIConfigStatics *OpenNIConfig::__get_statics__()
00346 {
00347 const static OpenNIConfigStatics *statics;
00348
00349 if (statics)
00350 return statics;
00351
00352 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00353
00354 if (statics)
00355 return statics;
00356
00357 statics = OpenNIConfigStatics::get_instance();
00358
00359 return statics;
00360 }
00361
00362
00363 const int OpenNI_SXGA_15Hz = 1;
00364
00365 const int OpenNI_VGA_30Hz = 2;
00366
00367 const int OpenNI_VGA_25Hz = 3;
00368
00369 const int OpenNI_QVGA_25Hz = 4;
00370
00371 const int OpenNI_QVGA_30Hz = 5;
00372
00373 const int OpenNI_QVGA_60Hz = 6;
00374
00375 const int OpenNI_QQVGA_25Hz = 7;
00376
00377 const int OpenNI_QQVGA_30Hz = 8;
00378
00379 const int OpenNI_QQVGA_60Hz = 9;
00380
00381 const int OpenNI_Bilinear = 0;
00382
00383 const int OpenNI_EdgeAware = 1;
00384
00385 const int OpenNI_EdgeAwareWeighted = 2;
00386 }
00387
00388 #endif // __OPENNIRECONFIGURATOR_H__
