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

 PointGreyStereoCameraNodelet ()
 
 ~PointGreyStereoCameraNodelet ()
 
- 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 cleanUp ()
 Cleans up the memory and disconnects the camera. 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...
 

Private Attributes

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...
 
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_
 
PointGreyCamera pg_
 Instance of the PointGreyCamera library, used to interface with the hardware. More...
 
boost::shared_ptr< boost::thread > pubThread_
 The thread that reads and publishes the images. More...
 
sensor_msgs::CameraInfoPtr rci_
 Camera Info message. More...
 
boost::shared_ptr< camera_info_manager::CameraInfoManagerrcinfo_
 Needed to initialize and keep the CameraInfoManager in scope. More...
 
boost::shared_ptr< image_transport::ImageTransportrit_
 Needed to initialize and keep the ImageTransport in scope. More...
 
image_transport::CameraPublisher rit_pub_
 CameraInfoManager ROS publisher. 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...
 
std::string second_frame_id_
 Frame id used for the second camera. 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...
 
ros::Publisher temp_pub_
 Publisher for current camera temperature. 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 56 of file stereo_nodelet.cpp.

Constructor & Destructor Documentation

pointgrey_camera_driver::PointGreyStereoCameraNodelet::PointGreyStereoCameraNodelet ( )
inline

Definition at line 59 of file stereo_nodelet.cpp.

pointgrey_camera_driver::PointGreyStereoCameraNodelet::~PointGreyStereoCameraNodelet ( )
inline

Definition at line 61 of file stereo_nodelet.cpp.

Member Function Documentation

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::cleanUp ( )
inlineprivate

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.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::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 266 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::gainWBCallback ( const image_exposure_msgs::ExposureSequence &  msg)
inlineprivate

Definition at line 327 of file stereo_nodelet.cpp.

void pointgrey_camera_driver::PointGreyStereoCameraNodelet::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 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 
)
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 76 of file stereo_nodelet.cpp.

Member Data Documentation

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::binning_x_
private

Camera Info pixel binning along the image x axis.

Definition at line 372 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::binning_y_
private

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.

boost::shared_ptr<camera_info_manager::CameraInfoManager> pointgrey_camera_driver::PointGreyStereoCameraNodelet::cinfo_
private

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 346 of file stereo_nodelet.cpp.

bool pointgrey_camera_driver::PointGreyStereoCameraNodelet::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 378 of file stereo_nodelet.cpp.

std::string pointgrey_camera_driver::PointGreyStereoCameraNodelet::frame_id_
private

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

Definition at line 357 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::gain_
private

Definition at line 360 of file stereo_nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> pointgrey_camera_driver::PointGreyStereoCameraNodelet::it_
private

Needed to initialize and keep the ImageTransport in scope.

Definition at line 345 of file stereo_nodelet.cpp.

image_transport::CameraPublisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::it_pub_
private

CameraInfoManager ROS publisher.

Definition at line 347 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::max_freq_
private

Definition at line 353 of file stereo_nodelet.cpp.

double pointgrey_camera_driver::PointGreyStereoCameraNodelet::min_freq_
private

Definition at line 352 of file stereo_nodelet.cpp.

PointGreyCamera pointgrey_camera_driver::PointGreyStereoCameraNodelet::pg_
private

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.

sensor_msgs::CameraInfoPtr pointgrey_camera_driver::PointGreyStereoCameraNodelet::rci_
private

Camera Info message.

Definition at line 369 of file stereo_nodelet.cpp.

boost::shared_ptr<camera_info_manager::CameraInfoManager> pointgrey_camera_driver::PointGreyStereoCameraNodelet::rcinfo_
private

Needed to initialize and keep the CameraInfoManager in scope.

Definition at line 367 of file stereo_nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> pointgrey_camera_driver::PointGreyStereoCameraNodelet::rit_
private

Needed to initialize and keep the ImageTransport in scope.

Definition at line 366 of file stereo_nodelet.cpp.

image_transport::CameraPublisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::rit_pub_
private

CameraInfoManager ROS publisher.

Definition at line 368 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_height_
private

Camera Info ROI height.

Definition at line 376 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_width_
private

Camera Info ROI width.

Definition at line 377 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_x_offset_
private

Camera Info ROI x offset.

Definition at line 374 of file stereo_nodelet.cpp.

size_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::roi_y_offset_
private

Camera Info ROI y offset.

Definition at line 375 of file stereo_nodelet.cpp.

std::string pointgrey_camera_driver::PointGreyStereoCameraNodelet::second_frame_id_
private

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.

ros::Subscriber pointgrey_camera_driver::PointGreyStereoCameraNodelet::sub_
private

Subscriber for gain and white balance changes.

Definition at line 349 of file stereo_nodelet.cpp.

ros::Publisher pointgrey_camera_driver::PointGreyStereoCameraNodelet::temp_pub_
private

Publisher for current camera temperature.

Todo:
Put this in diagnostics instead.

Definition at line 348 of file stereo_nodelet.cpp.

diagnostic_updater::Updater pointgrey_camera_driver::PointGreyStereoCameraNodelet::updater_
private

Handles publishing diagnostics messages.

Definition at line 351 of file stereo_nodelet.cpp.

uint16_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::wb_blue_
private

Definition at line 361 of file stereo_nodelet.cpp.

uint16_t pointgrey_camera_driver::PointGreyStereoCameraNodelet::wb_red_
private

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 May 8 2020 03:10:28