CameraNode.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012-2016, Kevin Hallenbeck
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
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00034 
00035 #ifndef _CAMERA_NODE_H_
00036 #define _CAMERA_NODE_H_
00037 
00038 // ROS communication
00039 #include <ros/ros.h>
00040 #include <ros/package.h>        // finds package paths
00041 #include <sensor_msgs/Image.h>
00042 #include <sensor_msgs/CameraInfo.h>
00043 #include <sensor_msgs/SetCameraInfo.h>
00044 #include <image_transport/image_transport.h>
00045 #include <camera_calibration_parsers/parse_ini.h>
00046 
00047 // Dynamic reconfigure
00048 #include <dynamic_reconfigure/server.h>
00049 #include <ueye/monoConfig.h>
00050 
00051 // File IO
00052 #include <sstream>
00053 #include <fstream>
00054 
00055 // ueye::Camera class
00056 #include <ueye/Camera.h>
00057 
00058 namespace ueye
00059 {
00060 
00061 static std::string configFileName(const Camera &cam) {
00062   std::stringstream ss;
00063   ss << "Cal-" << cam.getCameraName() << "-" << cam.getZoom() << "-" << cam.getCameraSerialNo() << ".txt";
00064   return ss.str();
00065 }
00066 
00067 class CameraNode
00068 {
00069 public:
00070   CameraNode(ros::NodeHandle node, ros::NodeHandle private_nh);
00071   ~CameraNode();
00072 
00073 private:
00074   // ROS callbacks
00075   void reconfig(monoConfig &config, uint32_t level);
00076   void timerCallback(const ros::TimerEvent& event);
00077   bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req, sensor_msgs::SetCameraInfo::Response& rsp);
00078 
00079   void loadIntrinsics();
00080   sensor_msgs::ImagePtr processFrame(const char *frame, size_t size, sensor_msgs::CameraInfoPtr &info);
00081   void publishImage(const char *frame, size_t size);
00082   void startCamera();
00083   void stopCamera();
00084   void closeCamera();
00085   void handlePath(std::string &path);
00086 
00087   dynamic_reconfigure::Server<monoConfig> srv_;
00088   ros::Timer timer_;
00089   sensor_msgs::CameraInfo msg_camera_info_;
00090 
00091   ueye::Camera cam_;
00092   bool running_;
00093   bool configured_;
00094   bool force_streaming_;
00095   std::string config_path_;
00096   int trigger_mode_;
00097   bool auto_exposure_;
00098   bool auto_gain_;
00099   int zoom_;
00100 
00101   // ROS topics
00102   image_transport::ImageTransport it_;
00103   image_transport::CameraPublisher pub_stream_;
00104   ros::ServiceServer srv_cam_info_;
00105 };
00106 
00107 } // namespace ueye
00108 
00109 #endif // _CAMERA_NODE_H_


ueye
Author(s): Kevin Hallenbeck
autogenerated on Thu Sep 7 2017 09:31:27