Public Member Functions | Private Member Functions | Private Attributes
pointgrey_camera_driver::PointGreyStereoCameraNodelet Class Reference
Inheritance diagram for pointgrey_camera_driver::PointGreyStereoCameraNodelet:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 PointGreyStereoCameraNodelet ()
 ~PointGreyStereoCameraNodelet ()

Private Member Functions

void cleanUp ()
 Cleans up the memory and disconnects the camera.
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.

Private Attributes

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.
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_
PointGreyCamera pg_
 Instance of the PointGreyCamera library, used to interface with the hardware.
boost::shared_ptr< boost::thread > pubThread_
 The thread that reads and publishes the images.
sensor_msgs::CameraInfoPtr rci_
 Camera Info message.
boost::shared_ptr
< camera_info_manager::CameraInfoManager
rcinfo_
 Needed to initialize and keep the CameraInfoManager in scope.
boost::shared_ptr
< image_transport::ImageTransport
rit_
 Needed to initialize and keep the ImageTransport in scope.
image_transport::CameraPublisher rit_pub_
 CameraInfoManager ROS publisher.
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.
std::string second_frame_id_
 Frame id used for the second camera.
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.
ros::Publisher temp_pub_
 Publisher for current camera temperature.
diagnostic_updater::Updater updater_
 Handles publishing diagnostics messages.
uint16_t wb_blue_
uint16_t wb_red_

Detailed Description

Definition at line 56 of file stereo_nodelet.cpp.


Constructor & Destructor Documentation

Definition at line 59 of file stereo_nodelet.cpp.

Definition at line 61 of file stereo_nodelet.cpp.


Member Function Documentation

Cleans up the memory and disconnects the camera.

This function is called from the deconstructor since pg_.stop() and pg_.disconnect() could throw exceptions.

Definition at line 246 of file stereo_nodelet.cpp.

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 266 of file stereo_nodelet.cpp.

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

Definition at line 327 of file stereo_nodelet.cpp.

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 for a significant period of time.

<

Todo:
Move this to diagnostics

Implements nodelet::Nodelet.

Definition at line 140 of file stereo_nodelet.cpp.

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

Definition at line 76 of file stereo_nodelet.cpp.


Member Data Documentation

Camera Info pixel binning along the image x axis.

Definition at line 372 of file stereo_nodelet.cpp.

Camera Info pixel binning along the image y axis.

Definition at line 373 of file stereo_nodelet.cpp.

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

Camera Info message.

Definition at line 356 of file stereo_nodelet.cpp.

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 346 of file stereo_nodelet.cpp.

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 378 of file stereo_nodelet.cpp.

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

Definition at line 357 of file stereo_nodelet.cpp.

Definition at line 360 of file stereo_nodelet.cpp.

Needed to initialize and keep the ImageTransport in scope.

Definition at line 345 of file stereo_nodelet.cpp.

CameraInfoManager ROS publisher.

Definition at line 347 of file stereo_nodelet.cpp.

Definition at line 353 of file stereo_nodelet.cpp.

Definition at line 352 of file stereo_nodelet.cpp.

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

Definition at line 355 of file stereo_nodelet.cpp.

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

The thread that reads and publishes the images.

Definition at line 358 of file stereo_nodelet.cpp.

Camera Info message.

Definition at line 369 of file stereo_nodelet.cpp.

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 367 of file stereo_nodelet.cpp.

Needed to initialize and keep the ImageTransport in scope.

Definition at line 366 of file stereo_nodelet.cpp.

CameraInfoManager ROS publisher.

Definition at line 368 of file stereo_nodelet.cpp.

Camera Info ROI height.

Definition at line 376 of file stereo_nodelet.cpp.

Camera Info ROI width.

Definition at line 377 of file stereo_nodelet.cpp.

Camera Info ROI x offset.

Definition at line 374 of file stereo_nodelet.cpp.

Camera Info ROI y offset.

Definition at line 375 of file stereo_nodelet.cpp.

Frame id used for the second camera.

Definition at line 365 of file stereo_nodelet.cpp.

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

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

Definition at line 344 of file stereo_nodelet.cpp.

Subscriber for gain and white balance changes.

Definition at line 349 of file stereo_nodelet.cpp.

Publisher for current camera temperature.

Todo:
Put this in diagnostics instead.

Definition at line 348 of file stereo_nodelet.cpp.

Handles publishing diagnostics messages.

Definition at line 351 of file stereo_nodelet.cpp.

Definition at line 361 of file stereo_nodelet.cpp.

Definition at line 362 of file stereo_nodelet.cpp.


The documentation for this class was generated from the following file:


pointgrey_camera_driver
Author(s): Chad Rockey
autogenerated on Fri Oct 6 2017 02:35:31