Inheritance diagram for pointgrey_camera_driver::PointGreyCameraNodelet:

Public Member Functions
	PointGreyCameraNodelet ()
	~PointGreyCameraNodelet ()
Private Member Functions
void	connectCb ()
	Connection callback to only do work when someone is listening.
void	devicePoll ()
	Function for the boost::thread to grabImages and publish them.
void	gainWBCallback (const image_exposure_msgs::ExposureSequence &msg)
void	onInit ()
	Serves as a psuedo constructor for nodelets.
void	paramCallback (pointgrey_camera_driver::PointGreyConfig &config, uint32_t level)
	Function that allows reconfiguration of the camera.
int	readSerialAsHexFromFile (std::string camera_serial_path)
	Reads in the camera serial from a specified file path. The format of the serial is expected to be base 16.
Private Attributes
bool	auto_packet_size_
	If true, GigE packet size is automatically determined, otherwise packet_size_ is used:
size_t	binning_x_
	Camera Info pixel binning along the image x axis.
size_t	binning_y_
	Camera Info pixel binning along the image y axis.
sensor_msgs::CameraInfoPtr	ci_
	Camera Info message.
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
	Needed to initialize and keep the CameraInfoManager in scope.
pointgrey_camera_driver::PointGreyConfig	config_
	Configuration:
boost::mutex	connect_mutex_
bool	do_rectify_
	Whether or not to rectify as if part of an image. Set to false if whole image, and true if in ROI mode.
std::string	frame_id_
	Frame id for the camera messages, defaults to 'camera'.
double	gain_
boost::shared_ptr < image_transport::ImageTransport >	it_
	Needed to initialize and keep the ImageTransport in scope.
image_transport::CameraPublisher	it_pub_
	CameraInfoManager ROS publisher.
double	max_freq_
double	min_freq_
int	packet_delay_
	GigE packet delay:
int	packet_size_
	GigE packet size:
PointGreyCamera	pg_
	Instance of the PointGreyCamera library, used to interface with the hardware.
boost::shared_ptr < diagnostic_updater::DiagnosedPublisher < wfov_camera_msgs::WFOVImage > >	pub_
	Diagnosed publisher, has to be a pointer because of constructor requirements.
boost::shared_ptr< boost::thread >	pubThread_
	The thread that reads and publishes the images.
size_t	roi_height_
	Camera Info ROI height.
size_t	roi_width_
	Camera Info ROI width.
size_t	roi_x_offset_
	Camera Info ROI x offset.
size_t	roi_y_offset_
	Camera Info ROI y offset.
boost::shared_ptr < dynamic_reconfigure::Server < pointgrey_camera_driver::PointGreyConfig > >	srv_
	Needed to initialize and keep the dynamic_reconfigure::Server in scope.
ros::Subscriber	sub_
	Subscriber for gain and white balance changes.
diagnostic_updater::Updater	updater_
	Handles publishing diagnostics messages.
uint16_t	wb_blue_
uint16_t	wb_red_

Detailed Description

Definition at line 57 of file nodelet.cpp.

Constructor & Destructor Documentation

pointgrey_camera_driver::PointGreyCameraNodelet::PointGreyCameraNodelet ( ) [inline]

Definition at line 60 of file nodelet.cpp.

pointgrey_camera_driver::PointGreyCameraNodelet::~PointGreyCameraNodelet ( ) [inline]

Definition at line 62 of file nodelet.cpp.

Member Function Documentation

void pointgrey_camera_driver::PointGreyCameraNodelet::connectCb ( ) [inline, private]

Connection callback to only do work when someone is listening.

This function will connect/disconnect from the camera depending on who is using the output.

Definition at line 158 of file nodelet.cpp.

void pointgrey_camera_driver::PointGreyCameraNodelet::devicePoll ( ) [inline, private]

Function for the boost::thread to grabImages and publish them.

This function continues until the thread is interupted. Responsible for getting sensor_msgs::Image and publishing them.

Definition at line 349 of file nodelet.cpp.

void pointgrey_camera_driver::PointGreyCameraNodelet::gainWBCallback ( const image_exposure_msgs::ExposureSequence & msg ) [inline, private]

Definition at line 548 of file nodelet.cpp.

void pointgrey_camera_driver::PointGreyCameraNodelet::onInit ( ) [inline, private, virtual]

Serves as a psuedo constructor for nodelets.

This function needs to do the MINIMUM amount of work to get the nodelet running. Nodelets should not call blocking functions here.

Implements nodelet::Nodelet.

Definition at line 212 of file nodelet.cpp.

void pointgrey_camera_driver::PointGreyCameraNodelet::paramCallback	(	pointgrey_camera_driver::PointGreyConfig &	config,
		uint32_t	level
	)		`[inline, private]`

Function that allows reconfiguration of the camera.

This function serves as a callback for the dynamic reconfigure service. It simply passes the configuration object to the driver to allow the camera to reconfigure.

Parameters:

config	camera_library::CameraConfig object passed by reference. Values will be changed to those the driver is currently using.
level	driver_base reconfiguration level. See driver_base/SensorLevels.h for more information.

Definition at line 93 of file nodelet.cpp.

int pointgrey_camera_driver::PointGreyCameraNodelet::readSerialAsHexFromFile ( std::string camera_serial_path ) [inline, private]

Reads in the camera serial from a specified file path. The format of the serial is expected to be base 16.

Parameters:

camera_serial_path The path of where to read in the serial from. Generally this is a USB device path to the serial file.

Returns:: int The serial number for the given path, 0 if failure.

Definition at line 320 of file nodelet.cpp.

Member Data Documentation

bool pointgrey_camera_driver::PointGreyCameraNodelet::auto_packet_size_ [private]

If true, GigE packet size is automatically determined, otherwise packet_size_ is used:

Definition at line 598 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::binning_x_ [private]

Camera Info pixel binning along the image x axis.

Definition at line 588 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::binning_y_ [private]

Camera Info pixel binning along the image y axis.

Definition at line 589 of file nodelet.cpp.

sensor_msgs::CameraInfoPtr pointgrey_camera_driver::PointGreyCameraNodelet::ci_ [private]

Camera Info message.

Definition at line 579 of file nodelet.cpp.

boost::shared_ptr<camera_info_manager::CameraInfoManager> pointgrey_camera_driver::PointGreyCameraNodelet::cinfo_ [private]

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 567 of file nodelet.cpp.

pointgrey_camera_driver::PointGreyConfig pointgrey_camera_driver::PointGreyCameraNodelet::config_ [private]

Configuration:

Definition at line 605 of file nodelet.cpp.

boost::mutex pointgrey_camera_driver::PointGreyCameraNodelet::connect_mutex_ [private]

Definition at line 572 of file nodelet.cpp.

bool pointgrey_camera_driver::PointGreyCameraNodelet::do_rectify_ [private]

Whether or not to rectify as if part of an image. Set to false if whole image, and true if in ROI mode.

Definition at line 594 of file nodelet.cpp.

std::string pointgrey_camera_driver::PointGreyCameraNodelet::frame_id_ [private]

Frame id for the camera messages, defaults to 'camera'.

Definition at line 580 of file nodelet.cpp.

double pointgrey_camera_driver::PointGreyCameraNodelet::gain_ [private]

Definition at line 583 of file nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> pointgrey_camera_driver::PointGreyCameraNodelet::it_ [private]

Needed to initialize and keep the ImageTransport in scope.

Definition at line 566 of file nodelet.cpp.

image_transport::CameraPublisher pointgrey_camera_driver::PointGreyCameraNodelet::it_pub_ [private]

CameraInfoManager ROS publisher.

Definition at line 568 of file nodelet.cpp.

double pointgrey_camera_driver::PointGreyCameraNodelet::max_freq_ [private]

Definition at line 576 of file nodelet.cpp.

double pointgrey_camera_driver::PointGreyCameraNodelet::min_freq_ [private]

Definition at line 575 of file nodelet.cpp.

int pointgrey_camera_driver::PointGreyCameraNodelet::packet_delay_ [private]

GigE packet delay:

Definition at line 602 of file nodelet.cpp.

int pointgrey_camera_driver::PointGreyCameraNodelet::packet_size_ [private]

GigE packet size:

Definition at line 600 of file nodelet.cpp.

PointGreyCamera pointgrey_camera_driver::PointGreyCameraNodelet::pg_ [private]

Instance of the PointGreyCamera library, used to interface with the hardware.

Definition at line 578 of file nodelet.cpp.

boost::shared_ptr<diagnostic_updater::DiagnosedPublisher<wfov_camera_msgs::WFOVImage> > pointgrey_camera_driver::PointGreyCameraNodelet::pub_ [private]

Diagnosed publisher, has to be a pointer because of constructor requirements.

Definition at line 569 of file nodelet.cpp.

boost::shared_ptr<boost::thread> pointgrey_camera_driver::PointGreyCameraNodelet::pubThread_ [private]

The thread that reads and publishes the images.

Definition at line 581 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::roi_height_ [private]

Camera Info ROI height.

Definition at line 592 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::roi_width_ [private]

Camera Info ROI width.

Definition at line 593 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::roi_x_offset_ [private]

Camera Info ROI x offset.

Definition at line 590 of file nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyCameraNodelet::roi_y_offset_ [private]

Camera Info ROI y offset.

Definition at line 591 of file nodelet.cpp.

boost::shared_ptr<dynamic_reconfigure::Server<pointgrey_camera_driver::PointGreyConfig> > pointgrey_camera_driver::PointGreyCameraNodelet::srv_ [private]

Needed to initialize and keep the dynamic_reconfigure::Server in scope.

Definition at line 565 of file nodelet.cpp.

ros::Subscriber pointgrey_camera_driver::PointGreyCameraNodelet::sub_ [private]

Subscriber for gain and white balance changes.

Definition at line 570 of file nodelet.cpp.

diagnostic_updater::Updater pointgrey_camera_driver::PointGreyCameraNodelet::updater_ [private]

Handles publishing diagnostics messages.

Definition at line 574 of file nodelet.cpp.

uint16_t pointgrey_camera_driver::PointGreyCameraNodelet::wb_blue_ [private]

Definition at line 584 of file nodelet.cpp.

uint16_t pointgrey_camera_driver::PointGreyCameraNodelet::wb_red_ [private]

Definition at line 585 of file nodelet.cpp.