Inheritance diagram for prosilica_camera::ProsilicaNodelet:

Public Member Functions
	ProsilicaNodelet ()

virtual	~ProsilicaNodelet ()

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 Types
enum	CameraState { OPENING, CAMERA_NOT_FOUND, FORMAT_ERROR, ERROR, OK }

typedef dynamic_reconfigure::Server< prosilica_camera::ProsilicaCameraConfig >	ReconfigureServer

Private Member Functions
bool	frameToImage (tPvFrame *frame, sensor_msgs::Image &image)

std::string	getAvailableCameras ()

void	getCurrentState (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	kill (unsigned long guid)

void	loadIntrinsics ()

virtual void	onInit ()

void	onInitImpl ()

void	openCamera ()

void	pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)

bool	processFrame (tPvFrame *frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)

void	publishImage (tPvFrame *frame)

void	publishImage (tPvFrame *frame, ros::Time time)

void	reconfigureCallback (prosilica_camera::ProsilicaCameraConfig &config, uint32_t level)

bool	setCameraInfo (sensor_msgs::SetCameraInfoRequest &req, sensor_msgs::SetCameraInfoResponse &rsp)

void	start ()

void	stop ()

void	syncInCallback (const std_msgs::HeaderConstPtr &msg)

void	updateCallback (const ros::TimerEvent &event)

Private Attributes
bool	auto_adjust_stream_bytes_per_second_

sensor_msgs::CameraInfo	cam_info_

boost::shared_ptr< prosilica::Camera >	camera_

enum prosilica_camera::ProsilicaNodelet::CameraState	camera_state_

boost::recursive_mutex	config_mutex_

int	count_

tPvUint32	dummy

std::string	frame_id_

RollingSum< unsigned long >	frames_completed_acc_

unsigned long	frames_completed_total_

RollingSum< unsigned long >	frames_dropped_acc_

unsigned long	frames_dropped_total_

unsigned long	guid_

std::string	hw_id_

image_transport::CameraPublisher	image_publisher_

sensor_msgs::Image	img_

boost::thread	init_thread_

std::string	intrinsics_

std::string	ip_address_

prosilica_camera::ProsilicaCameraConfig	last_config_

tPvUint32	max_binning_x

tPvUint32	max_binning_y

double	open_camera_retry_period_

RollingSum< unsigned long >	packets_missed_acc_

unsigned long	packets_missed_total_

RollingSum< unsigned long >	packets_received_acc_

unsigned long	packets_received_total_

polled_camera::PublicationServer	poll_srv_

boost::shared_ptr< ReconfigureServer >	reconfigure_server_

tPvUint32	sensor_height_

tPvUint32	sensor_width_

ros::ServiceServer	set_camera_info_srv_

std::string	state_info_

ros::Time	trig_time_

std::string	trig_timestamp_topic_

int	trigger_mode_

ros::Subscriber	trigger_sub_

double	update_rate_

ros::Timer	update_timer_

diagnostic_updater::Updater	updater

Static Private Attributes
static const int	WINDOW_SIZE = 100

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Definition at line 65 of file prosilica_nodelet.cpp.

Member Typedef Documentation

◆ ReconfigureServer

typedef dynamic_reconfigure::Server<prosilica_camera::ProsilicaCameraConfig> prosilica_camera::ProsilicaNodelet::ReconfigureServer

private

Definition at line 144 of file prosilica_nodelet.cpp.

Member Enumeration Documentation

◆ CameraState

enum prosilica_camera::ProsilicaNodelet::CameraState

private

Enumerator
OPENING
CAMERA_NOT_FOUND
FORMAT_ERROR
ERROR
OK

Definition at line 148 of file prosilica_nodelet.cpp.

Constructor & Destructor Documentation

◆ ~ProsilicaNodelet()

virtual prosilica_camera::ProsilicaNodelet::~ProsilicaNodelet ( )

inlinevirtual

Make sure we interrupt initialization (if it happened to still execute).

Definition at line 70 of file prosilica_nodelet.cpp.

◆ ProsilicaNodelet()

prosilica_camera::ProsilicaNodelet::ProsilicaNodelet ( )

inline

Definition at line 97 of file prosilica_nodelet.cpp.

Member Function Documentation

◆ frameToImage()

bool prosilica_camera::ProsilicaNodelet::frameToImage	(	tPvFrame *	frame,
		sensor_msgs::Image &	image
	)

inlineprivate

Definition at line 612 of file prosilica_nodelet.cpp.

◆ getAvailableCameras()

std::string prosilica_camera::ProsilicaNodelet::getAvailableCameras ( )

inlineprivate

Definition at line 319 of file prosilica_nodelet.cpp.

◆ getCurrentState()

void prosilica_camera::ProsilicaNodelet::getCurrentState ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprivate

Definition at line 887 of file prosilica_nodelet.cpp.

◆ kill()

void prosilica_camera::ProsilicaNodelet::kill ( unsigned long guid )

inlineprivate

Make sure we interrupt initialization (if it happened to still execute).

Definition at line 425 of file prosilica_nodelet.cpp.

◆ loadIntrinsics()

void prosilica_camera::ProsilicaNodelet::loadIntrinsics ( )

inlineprivate

Definition at line 330 of file prosilica_nodelet.cpp.

◆ onInit()

virtual void prosilica_camera::ProsilicaNodelet::onInit ( )

inlineprivatevirtual

We will be retrying to open camera until it is open, which may block the thread. Nodelet::onInit() should not block, hence spawning a new thread to do initialization.

Implements nodelet::Nodelet.

Definition at line 167 of file prosilica_nodelet.cpp.

◆ onInitImpl()

void prosilica_camera::ProsilicaNodelet::onInitImpl ( )

inlineprivate

initialize prosilica if necessary

Retrieve parameters from server

Definition at line 176 of file prosilica_nodelet.cpp.

◆ openCamera()

void prosilica_camera::ProsilicaNodelet::openCamera ( )

inlineprivate

Definition at line 237 of file prosilica_nodelet.cpp.

◆ pollCallback()

void prosilica_camera::ProsilicaNodelet::pollCallback	(	polled_camera::GetPolledImage::Request &	req,
		polled_camera::GetPolledImage::Response &	rsp,
		sensor_msgs::Image &	image,
		sensor_msgs::CameraInfo &	info
	)

inlineprivate

Definition at line 503 of file prosilica_nodelet.cpp.

◆ processFrame()

bool prosilica_camera::ProsilicaNodelet::processFrame	(	tPvFrame *	frame,
		sensor_msgs::Image &	img,
		sensor_msgs::CameraInfo &	cam_info
	)

inlineprivate

Todo:: Match time stamp from frame to ROS time?

Todo:: Binning values retrieved here may differ from the ones used to actually capture the frame! Maybe need to clear queue when changing binning and/or stuff binning values into context?

Definition at line 564 of file prosilica_nodelet.cpp.

◆ publishImage() [1/2]

void prosilica_camera::ProsilicaNodelet::publishImage ( tPvFrame * frame )

inlineprivate

Definition at line 446 of file prosilica_nodelet.cpp.

◆ publishImage() [2/2]

void prosilica_camera::ProsilicaNodelet::publishImage	(	tPvFrame *	frame,
		ros::Time	time
	)

inlineprivate

Definition at line 451 of file prosilica_nodelet.cpp.

◆ reconfigureCallback()

void prosilica_camera::ProsilicaNodelet::reconfigureCallback	(	prosilica_camera::ProsilicaCameraConfig &	config,
		uint32_t	level
	)

inlineprivate

Trigger mode

Todo:: Replicating logic from polledCallback

If exception thrown due to bad settings, it will fail to start camera Reload last good config

Definition at line 692 of file prosilica_nodelet.cpp.

◆ setCameraInfo()

bool prosilica_camera::ProsilicaNodelet::setCameraInfo	(	sensor_msgs::SetCameraInfoRequest &	req,
		sensor_msgs::SetCameraInfoResponse &	rsp
	)

inlineprivate

Definition at line 635 of file prosilica_nodelet.cpp.

◆ start()

void prosilica_camera::ProsilicaNodelet::start ( )

inlineprivate

Definition at line 369 of file prosilica_nodelet.cpp.

◆ stop()

void prosilica_camera::ProsilicaNodelet::stop ( )

inlineprivate

Definition at line 415 of file prosilica_nodelet.cpp.

◆ syncInCallback()

void prosilica_camera::ProsilicaNodelet::syncInCallback ( const std_msgs::HeaderConstPtr & msg )

inlineprivate

Definition at line 550 of file prosilica_nodelet.cpp.

◆ updateCallback()

void prosilica_camera::ProsilicaNodelet::updateCallback ( const ros::TimerEvent & event )

inlineprivate

Definition at line 476 of file prosilica_nodelet.cpp.

Member Data Documentation

◆ auto_adjust_stream_bytes_per_second_

bool prosilica_camera::ProsilicaNodelet::auto_adjust_stream_bytes_per_second_

private

Definition at line 135 of file prosilica_nodelet.cpp.

◆ cam_info_

sensor_msgs::CameraInfo prosilica_camera::ProsilicaNodelet::cam_info_

private

Definition at line 122 of file prosilica_nodelet.cpp.

◆ camera_

boost::shared_ptr<prosilica::Camera> prosilica_camera::ProsilicaNodelet::camera_

private

Definition at line 112 of file prosilica_nodelet.cpp.

◆ camera_state_

enum prosilica_camera::ProsilicaNodelet::CameraState prosilica_camera::ProsilicaNodelet::camera_state_

private

◆ config_mutex_

boost::recursive_mutex prosilica_camera::ProsilicaNodelet::config_mutex_

private

Definition at line 143 of file prosilica_nodelet.cpp.

◆ count_

int prosilica_camera::ProsilicaNodelet::count_

private

Definition at line 139 of file prosilica_nodelet.cpp.

◆ dummy

tPvUint32 prosilica_camera::ProsilicaNodelet::dummy

private

Definition at line 138 of file prosilica_nodelet.cpp.

◆ frame_id_

std::string prosilica_camera::ProsilicaNodelet::frame_id_

private

Definition at line 124 of file prosilica_nodelet.cpp.

◆ frames_completed_acc_

RollingSum<unsigned long> prosilica_camera::ProsilicaNodelet::frames_completed_acc_

private

Definition at line 160 of file prosilica_nodelet.cpp.

◆ frames_completed_total_

unsigned long prosilica_camera::ProsilicaNodelet::frames_completed_total_

private

Definition at line 159 of file prosilica_nodelet.cpp.

◆ frames_dropped_acc_

RollingSum<unsigned long> prosilica_camera::ProsilicaNodelet::frames_dropped_acc_

private

Definition at line 160 of file prosilica_nodelet.cpp.

◆ frames_dropped_total_

unsigned long prosilica_camera::ProsilicaNodelet::frames_dropped_total_

private

Definition at line 159 of file prosilica_nodelet.cpp.

◆ guid_

unsigned long prosilica_camera::ProsilicaNodelet::guid_

private

Definition at line 125 of file prosilica_nodelet.cpp.

◆ hw_id_

std::string prosilica_camera::ProsilicaNodelet::hw_id_

private

Definition at line 126 of file prosilica_nodelet.cpp.

◆ image_publisher_

image_transport::CameraPublisher prosilica_camera::ProsilicaNodelet::image_publisher_

private

Definition at line 116 of file prosilica_nodelet.cpp.

◆ img_

sensor_msgs::Image prosilica_camera::ProsilicaNodelet::img_

private

Definition at line 121 of file prosilica_nodelet.cpp.

◆ init_thread_

boost::thread prosilica_camera::ProsilicaNodelet::init_thread_

private

Definition at line 113 of file prosilica_nodelet.cpp.

◆ intrinsics_

std::string prosilica_camera::ProsilicaNodelet::intrinsics_

private

Definition at line 157 of file prosilica_nodelet.cpp.

◆ ip_address_

std::string prosilica_camera::ProsilicaNodelet::ip_address_

private

Definition at line 127 of file prosilica_nodelet.cpp.

◆ last_config_

prosilica_camera::ProsilicaCameraConfig prosilica_camera::ProsilicaNodelet::last_config_

private

Definition at line 142 of file prosilica_nodelet.cpp.

◆ max_binning_x

tPvUint32 prosilica_camera::ProsilicaNodelet::max_binning_x

private

Definition at line 138 of file prosilica_nodelet.cpp.

◆ max_binning_y

tPvUint32 prosilica_camera::ProsilicaNodelet::max_binning_y

private

Definition at line 138 of file prosilica_nodelet.cpp.

◆ open_camera_retry_period_

double prosilica_camera::ProsilicaNodelet::open_camera_retry_period_

private

Definition at line 128 of file prosilica_nodelet.cpp.

◆ packets_missed_acc_

RollingSum<unsigned long> prosilica_camera::ProsilicaNodelet::packets_missed_acc_

private

Definition at line 162 of file prosilica_nodelet.cpp.

◆ packets_missed_total_

unsigned long prosilica_camera::ProsilicaNodelet::packets_missed_total_

private

Definition at line 161 of file prosilica_nodelet.cpp.

◆ packets_received_acc_

RollingSum<unsigned long> prosilica_camera::ProsilicaNodelet::packets_received_acc_

private

Definition at line 162 of file prosilica_nodelet.cpp.

◆ packets_received_total_

unsigned long prosilica_camera::ProsilicaNodelet::packets_received_total_

private

Definition at line 161 of file prosilica_nodelet.cpp.

◆ poll_srv_

polled_camera::PublicationServer prosilica_camera::ProsilicaNodelet::poll_srv_

private

Definition at line 117 of file prosilica_nodelet.cpp.

◆ reconfigure_server_

boost::shared_ptr<ReconfigureServer> prosilica_camera::ProsilicaNodelet::reconfigure_server_

private

Definition at line 145 of file prosilica_nodelet.cpp.

◆ sensor_height_

tPvUint32 prosilica_camera::ProsilicaNodelet::sensor_height_

private

Definition at line 137 of file prosilica_nodelet.cpp.

◆ sensor_width_

tPvUint32 prosilica_camera::ProsilicaNodelet::sensor_width_

private

Definition at line 137 of file prosilica_nodelet.cpp.

◆ set_camera_info_srv_

ros::ServiceServer prosilica_camera::ProsilicaNodelet::set_camera_info_srv_

private

Definition at line 118 of file prosilica_nodelet.cpp.

◆ state_info_

std::string prosilica_camera::ProsilicaNodelet::state_info_

private

Definition at line 156 of file prosilica_nodelet.cpp.

◆ trig_time_

ros::Time prosilica_camera::ProsilicaNodelet::trig_time_

private

Definition at line 130 of file prosilica_nodelet.cpp.

◆ trig_timestamp_topic_

std::string prosilica_camera::ProsilicaNodelet::trig_timestamp_topic_

private

Definition at line 129 of file prosilica_nodelet.cpp.

◆ trigger_mode_

int prosilica_camera::ProsilicaNodelet::trigger_mode_

private

Definition at line 134 of file prosilica_nodelet.cpp.

◆ trigger_sub_

ros::Subscriber prosilica_camera::ProsilicaNodelet::trigger_sub_

private

Definition at line 119 of file prosilica_nodelet.cpp.

◆ update_rate_

double prosilica_camera::ProsilicaNodelet::update_rate_

private

Definition at line 133 of file prosilica_nodelet.cpp.

◆ update_timer_

ros::Timer prosilica_camera::ProsilicaNodelet::update_timer_

private

Definition at line 114 of file prosilica_nodelet.cpp.

◆ updater

diagnostic_updater::Updater prosilica_camera::ProsilicaNodelet::updater

private

Definition at line 164 of file prosilica_nodelet.cpp.

◆ WINDOW_SIZE

const int prosilica_camera::ProsilicaNodelet::WINDOW_SIZE = 100

staticprivate

Definition at line 158 of file prosilica_nodelet.cpp.

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

prosilica_nodelet.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ReconfigureServer

Member Enumeration Documentation

◆ CameraState

Constructor & Destructor Documentation

◆ ~ProsilicaNodelet()

◆ ProsilicaNodelet()

Member Function Documentation

◆ frameToImage()

◆ getAvailableCameras()

◆ getCurrentState()

◆ kill()

◆ loadIntrinsics()

◆ onInit()

◆ onInitImpl()

◆ openCamera()

◆ pollCallback()

◆ processFrame()

◆ publishImage() [1/2]

◆ publishImage() [2/2]

◆ reconfigureCallback()

◆ setCameraInfo()

◆ start()

◆ stop()

◆ syncInCallback()

◆ updateCallback()

Member Data Documentation

◆ auto_adjust_stream_bytes_per_second_

◆ cam_info_

◆ camera_

◆ camera_state_

◆ config_mutex_

◆ count_

◆ dummy

◆ frame_id_

◆ frames_completed_acc_

◆ frames_completed_total_

◆ frames_dropped_acc_

◆ frames_dropped_total_

◆ guid_

◆ hw_id_

◆ image_publisher_

◆ img_

◆ init_thread_

◆ intrinsics_

◆ ip_address_

◆ last_config_

◆ max_binning_x

◆ max_binning_y

◆ open_camera_retry_period_

◆ packets_missed_acc_

◆ packets_missed_total_

◆ packets_received_acc_

◆ packets_received_total_

◆ poll_srv_

◆ reconfigure_server_

◆ sensor_height_

◆ sensor_width_

◆ set_camera_info_srv_

◆ state_info_

◆ trig_time_

◆ trig_timestamp_topic_

◆ trigger_mode_

◆ trigger_sub_

◆ update_rate_

◆ update_timer_

◆ updater

◆ WINDOW_SIZE