#include <naoqi_camera.h>

Inheritance diagram for naoqicamera_driver::NaoqiCameraDriver:

Public Member Functions
	NaoqiCameraDriver (int argc, char **argv, ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void	poll (void)
void	setup (void)
void	shutdown (void)
	~NaoqiCameraDriver ()
Private Member Functions
void	closeCamera ()
void	getNaoqiParams (ros::NodeHandle priv_nh)
bool	openCamera (Config &newconfig)
void	publish (const sensor_msgs::ImagePtr &image)
bool	read (sensor_msgs::ImagePtr &image)
void	reconfig (naoqicamera::NaoqiCameraConfig &newconfig, uint32_t level)
Private Attributes
bool	calibration_matches_
std::string	camera_name_
ros::NodeHandle	camera_nh_
boost::shared_ptr < AL::ALVideoDeviceProxy >	camera_proxy_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
naoqicamera::NaoqiCameraConfig	config_
ros::Rate	cycle_
diagnostic_updater::Updater	diagnostics_
std::string	frame_id_
image_transport::CameraPublisher	image_pub_
boost::shared_ptr < image_transport::ImageTransport >	it_
ros::NodeHandle	priv_nh_
ros::Rate	real_frame_rate_
boost::mutex	reconfiguration_mutex_
uint32_t	retries_
dynamic_reconfigure::Server < naoqicamera::NaoqiCameraConfig >	srv_
volatile driver_base::Driver::state_t	state_
diagnostic_updater::TopicDiagnostic	topic_diagnostics_
double	topic_diagnostics_max_freq_
double	topic_diagnostics_min_freq_

Detailed Description

Definition at line 79 of file naoqi_camera.h.

Constructor & Destructor Documentation

naoqicamera_driver::NaoqiCameraDriver::NaoqiCameraDriver	(	int	argc,
		char **	argv,
		ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 89 of file naoqi_camera.cpp.

naoqicamera_driver::NaoqiCameraDriver::~NaoqiCameraDriver ( )

Definition at line 133 of file naoqi_camera.cpp.

Member Function Documentation

void naoqicamera_driver::NaoqiCameraDriver::closeCamera ( ) [private]

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 162 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::getNaoqiParams ( ros::NodeHandle nh ) [private]

Get broker ip and port from ROS parameters.

Parameters:

nh	Nodehandle used to get parameters

Definition at line 141 of file naoqi_camera.cpp.

bool naoqicamera_driver::NaoqiCameraDriver::openCamera ( Config & newconfig ) [private]

Open the camera device.

Parameters:

newconfig configuration parameters

Returns:: true, if successful

Postcondition:: diagnostics frequency parameters set

if successful: state_ is Driver::OPENED camera_name_ set to GUID string GUID configuration parameter updated

Definition at line 184 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::poll ( void )

device poll

Definition at line 251 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::publish ( const sensor_msgs::ImagePtr & image ) [private]

Publish camera stream topics

Parameters:

image points to latest camera frame

Definition at line 307 of file naoqi_camera.cpp.

bool naoqicamera_driver::NaoqiCameraDriver::read ( sensor_msgs::ImagePtr & image ) [private]

Read camera data.

Parameters:

image points to camera Image message

Returns:: true if successful, with image filled in

Definition at line 359 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::reconfig	(	naoqicamera::NaoqiCameraConfig &	newconfig,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:

newconfig	new Config values
level	bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 414 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::setup ( void )

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 518 of file naoqi_camera.cpp.

void naoqicamera_driver::NaoqiCameraDriver::shutdown ( void )

driver termination

Definition at line 526 of file naoqi_camera.cpp.