StereoNode.h

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#ifndef _STEREO_NODE_H_
#define _STEREO_NODE_H_

// Use includes from CameraNode
#include <ueye/CameraNode.h>
#include <ueye/stereoConfig.h>

// Threading
#include <boost/thread/mutex.hpp>
#include <boost/thread/lock_guard.hpp>

namespace ueye
{

class StereoNode
{
public:
  StereoNode(ros::NodeHandle node, ros::NodeHandle private_nh);
  ~StereoNode();

private:
  // ROS callbacks
  void reconfig(stereoConfig &config, uint32_t level);
  void reconfigCam(stereoConfig &config, uint32_t level, Camera &cam);
  void timerCallback(const ros::TimerEvent& event);
  void timerForceTrigger(const ros::TimerEvent& event);
  bool setCameraInfoL(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
  bool setCameraInfoR(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
  bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp, Camera& cam,
                     sensor_msgs::CameraInfo &msg_info);

  void loadIntrinsics(Camera &cam, sensor_msgs::CameraInfo &msg_info);
  sensor_msgs::ImagePtr processFrame(const char *frame, size_t size, const Camera &cam,
                                     sensor_msgs::CameraInfoPtr &info, sensor_msgs::CameraInfo &msg_info);
  void publishImageL(const char *frame, size_t size);
  void publishImageR(const char *frame, size_t size);
  void startCamera();
  void stopCamera();
  void closeCamera();
  void handlePath(std::string &path);

  dynamic_reconfigure::Server<stereoConfig> srv_;
  ros::Timer timer_;
  ros::Timer timer_force_trigger_;
  sensor_msgs::CameraInfo l_msg_camera_info_, r_msg_camera_info_;

  ueye::Camera l_cam_, r_cam_;
  bool running_;
  bool configured_;
  bool force_streaming_;
  std::string config_path_;
  int trigger_mode_;
  bool auto_exposure_;
  bool auto_gain_;
  int zoom_;
  ros::Time l_stamp_, r_stamp_;

  // ROS topics
  image_transport::ImageTransport it_;
  image_transport::CameraPublisher l_pub_stream_, r_pub_stream_;
  ros::ServiceServer l_srv_cam_info_, r_srv_cam_info_;

  // Threading
  boost::mutex mutex_;
};

} // namespace ueye

#endif // _STEREO_NODE_H_