Public Member Functions | Private Member Functions | Private Attributes | List of all members
pointgrey_camera_driver::PointGreyCameraNodelet Class Reference
Inheritance diagram for pointgrey_camera_driver::PointGreyCameraNodelet:
Inheritance graph
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Public Member Functions

 PointGreyCameraNodelet ()
 
 ~PointGreyCameraNodelet ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 

Private Member Functions

void connectCb ()
 Connection callback to only do work when someone is listening. More...
 
void devicePoll ()
 Function for the boost::thread to grabImages and publish them. More...
 
void gainWBCallback (const image_exposure_msgs::ExposureSequence &msg)
 
void onInit ()
 Serves as a psuedo constructor for nodelets. More...
 
void paramCallback (pointgrey_camera_driver::PointGreyConfig &config, uint32_t level)
 Function that allows reconfiguration of the camera. More...
 
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. More...
 

Private Attributes

bool auto_packet_size_
 If true, GigE packet size is automatically determined, otherwise packet_size_ is used: More...
 
size_t binning_x_
 Camera Info pixel binning along the image x axis. More...
 
size_t binning_y_
 Camera Info pixel binning along the image y axis. More...
 
sensor_msgs::CameraInfoPtr ci_
 Camera Info message. More...
 
boost::shared_ptr< camera_info_manager::CameraInfoManagercinfo_
 Needed to initialize and keep the CameraInfoManager in scope. More...
 
pointgrey_camera_driver::PointGreyConfig config_
 Configuration: More...
 
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. More...
 
std::string frame_id_
 Frame id for the camera messages, defaults to 'camera'. More...
 
double gain_
 
boost::shared_ptr< image_transport::ImageTransportit_
 Needed to initialize and keep the ImageTransport in scope. More...
 
image_transport::CameraPublisher it_pub_
 CameraInfoManager ROS publisher. More...
 
double max_freq_
 
double min_freq_
 
int packet_delay_
 GigE packet delay: More...
 
int packet_size_
 GigE packet size: More...
 
PointGreyCamera pg_
 Instance of the PointGreyCamera library, used to interface with the hardware. More...
 
boost::shared_ptr< diagnostic_updater::DiagnosedPublisher< wfov_camera_msgs::WFOVImage > > pub_
 Diagnosed publisher, has to be a pointer because of constructor requirements. More...
 
boost::shared_ptr< boost::thread > pubThread_
 The thread that reads and publishes the images. More...
 
size_t roi_height_
 Camera Info ROI height. More...
 
size_t roi_width_
 Camera Info ROI width. More...
 
size_t roi_x_offset_
 Camera Info ROI x offset. More...
 
size_t roi_y_offset_
 Camera Info ROI y offset. More...
 
boost::shared_ptr< dynamic_reconfigure::Server< pointgrey_camera_driver::PointGreyConfig > > srv_
 Needed to initialize and keep the dynamic_reconfigure::Server in scope. More...
 
ros::Subscriber sub_
 Subscriber for gain and white balance changes. More...
 
diagnostic_updater::Updater updater_
 Handles publishing diagnostics messages. More...
 
uint16_t wb_blue_
 
uint16_t wb_red_
 

Additional Inherited Members

- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

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 ( )
inlineprivate

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 ( )
inlineprivate

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)
inlineprivate

Definition at line 548 of file nodelet.cpp.

void pointgrey_camera_driver::PointGreyCameraNodelet::onInit ( )
inlineprivatevirtual

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 
)
inlineprivate

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 93 of file nodelet.cpp.

int pointgrey_camera_driver::PointGreyCameraNodelet::readSerialAsHexFromFile ( std::string  camera_serial_path)
inlineprivate

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

Parameters
camera_serial_pathThe 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.


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


pointgrey_camera_driver
Author(s): Chad Rockey
autogenerated on Fri May 8 2020 03:10:28