vrmstnode.h
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00034 
00035 #include <image_transport/image_transport.h>
00036 #include <image_transport/camera_publisher.h>
00037 #include <sensor_msgs/fill_image.h>
00038 #include <sensor_msgs/Image.h>
00039 #include <sensor_msgs/CameraInfo.h>
00040 #include <sensor_msgs/SetCameraInfo.h>
00041 
00042 #include <dynamic_reconfigure/server.h>
00043 #include <vrmagic_multi_driver/CamParamsConfig.h>
00044 
00045 #include <boost/thread.hpp>
00046 
00047 #include <vrmagic_devkit_wrapper/vrmusbcam2.h>
00048 
00049 class PropertyCache;
00050 
00051 class VRMagicStereoNode
00052 {
00053 private:
00054         bool calibrated;
00055         unsigned int framesDelivered;
00056         unsigned int width, height;
00057         ros::NodeHandle leftNs, rightNs, thisNode;
00058         image_transport::CameraPublisher camPubLeft, camPubRight;
00059         sensor_msgs::CameraInfo leftCalib, rightCalib;
00060         ros::ServiceServer leftCalibUpdate, rightCalibUpdate;
00061         // it would be better to use CameraInfoManager, if saving to cameraeprom is not required
00062   dynamic_reconfigure::Server<vrmagic_multi_driver::CamParamsConfig> dConfServer;
00063         ros::Rate fpsLimit;
00064         VRmUsbCamDevice device;
00065         PropertyCache *props;
00066         boost::mutex camAccess, calibAccess, timerAccess;
00067         sensor_msgs::Image imgLeft;
00068         sensor_msgs::Image imgRight;
00069         const std::string frame_id;
00070         
00071   void propertyUpdate(vrmagic_multi_driver::CamParamsConfig &config, uint32_t level);
00072 
00073         bool runUpdateLeft(sensor_msgs::SetCameraInfo::Request &req,
00074             sensor_msgs::SetCameraInfo::Response &res);
00075 
00076         bool runUpdateRight(sensor_msgs::SetCameraInfo::Request &req,
00077             sensor_msgs::SetCameraInfo::Response &res);
00078 
00079         void storeCalibration();
00080         void loadCalibration();
00081         void AnnounceTopics();
00082         void AbandonTopics();
00083         void broadcastFrame();
00084         void grabFrame(VRmDWORD port, sensor_msgs::Image &img, const ros::Time &triggerTime);
00085         void initCam(VRmDWORD camDesired);
00086         void initProperties();
00087 
00088 public:
00089         VRMagicStereoNode(VRmDWORD camDesired);
00090         ~VRMagicStereoNode();
00091         void spin();
00092         void retireCam();
00093 
00094 };
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vrmagic_multi_driver
Author(s): Philipp Schneider, Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:57:01