#include <driver1394.h>
Public Member Functions | |
Camera1394Driver (ros::NodeHandle priv_nh, ros::NodeHandle camera_nh) | |
void | poll (void) |
void | setup (void) |
void | shutdown (void) |
~Camera1394Driver () | |
Private Member Functions | |
void | closeCamera () |
bool | openCamera (Config &newconfig) |
void | publish (const sensor_msgs::ImagePtr &image) |
bool | read (sensor_msgs::ImagePtr &image) |
void | reconfig (camera1394::Camera1394Config &newconfig, uint32_t level) |
Private Attributes | |
bool | calibration_matches_ |
std::string | camera_name_ |
ros::NodeHandle | camera_nh_ |
boost::shared_ptr < camera_info_manager::CameraInfoManager > | cinfo_ |
camera1394::Camera1394Config | config_ |
ros::Rate | cycle_ |
boost::shared_ptr < camera1394::Camera1394 > | dev_ |
diagnostic_updater::Updater | diagnostics_ |
image_transport::CameraPublisher | image_pub_ |
boost::shared_ptr < image_transport::ImageTransport > | it_ |
boost::mutex | mutex_ |
ros::NodeHandle | priv_nh_ |
volatile bool | reconfiguring_ |
uint32_t | retries_ |
dynamic_reconfigure::Server < camera1394::Camera1394Config > | srv_ |
volatile driver_base::Driver::state_t | state_ |
diagnostic_updater::TopicDiagnostic | topic_diagnostics_ |
double | topic_diagnostics_max_freq_ |
double | topic_diagnostics_min_freq_ |
Definition at line 63 of file driver1394.h.
camera1394_driver::Camera1394Driver::Camera1394Driver | ( | ros::NodeHandle | priv_nh, |
ros::NodeHandle | camera_nh | ||
) |
Definition at line 71 of file driver1394.cpp.
Definition at line 99 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::closeCamera | ( | ) | [private] |
Close camera device
postcondition: state_ is Driver::CLOSED
Definition at line 106 of file driver1394.cpp.
bool camera1394_driver::Camera1394Driver::openCamera | ( | Config & | newconfig | ) | [private] |
Open the camera device.
newconfig | configuration parameters |
if successful: state_ is Driver::OPENED camera_name_ set to GUID string GUID configuration parameter updated
Definition at line 128 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::poll | ( | void | ) |
device poll
Definition at line 182 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::publish | ( | const sensor_msgs::ImagePtr & | image | ) | [private] |
Publish camera stream topics
image | points to latest camera frame |
Definition at line 226 of file driver1394.cpp.
bool camera1394_driver::Camera1394Driver::read | ( | sensor_msgs::ImagePtr & | image | ) | [private] |
Read camera data.
image | points to camera Image message |
Definition at line 294 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::reconfig | ( | camera1394::Camera1394Config & | newconfig, |
uint32_t | level | ||
) | [private] |
Dynamic reconfigure callback
Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.
newconfig | new Config values |
level | bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call) |
Definition at line 322 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::setup | ( | void | ) |
driver initialization
Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.
Definition at line 399 of file driver1394.cpp.
void camera1394_driver::Camera1394Driver::shutdown | ( | void | ) |
driver termination
Definition at line 406 of file driver1394.cpp.
bool camera1394_driver::Camera1394Driver::calibration_matches_ [private] |
Definition at line 105 of file driver1394.h.
std::string camera1394_driver::Camera1394Driver::camera_name_ [private] |
Definition at line 92 of file driver1394.h.
ros::NodeHandle camera1394_driver::Camera1394Driver::camera_nh_ [private] |
Definition at line 91 of file driver1394.h.
boost::shared_ptr<camera_info_manager::CameraInfoManager> camera1394_driver::Camera1394Driver::cinfo_ [private] |
camera calibration information
Definition at line 104 of file driver1394.h.
dynamic parameter configuration
Definition at line 100 of file driver1394.h.
ros::Rate camera1394_driver::Camera1394Driver::cycle_ [private] |
Definition at line 93 of file driver1394.h.
boost::shared_ptr<camera1394::Camera1394> camera1394_driver::Camera1394Driver::dev_ [private] |
libdc1394 camera device interface
Definition at line 97 of file driver1394.h.
diagnostic_updater::Updater camera1394_driver::Camera1394Driver::diagnostics_ [private] |
TP: compressed image interfaces diagnostics updater
Definition at line 116 of file driver1394.h.
image_transport::CameraPublisher camera1394_driver::Camera1394Driver::image_pub_ [private] |
Definition at line 109 of file driver1394.h.
boost::shared_ptr<image_transport::ImageTransport> camera1394_driver::Camera1394Driver::it_ [private] |
image transport interfaces
Definition at line 108 of file driver1394.h.
boost::mutex camera1394_driver::Camera1394Driver::mutex_ [private] |
Non-recursive mutex for serializing callbacks with device polling.
Definition at line 85 of file driver1394.h.
ros::NodeHandle camera1394_driver::Camera1394Driver::priv_nh_ [private] |
Definition at line 90 of file driver1394.h.
volatile bool camera1394_driver::Camera1394Driver::reconfiguring_ [private] |
Definition at line 89 of file driver1394.h.
uint32_t camera1394_driver::Camera1394Driver::retries_ [private] |
Definition at line 94 of file driver1394.h.
dynamic_reconfigure::Server<camera1394::Camera1394Config> camera1394_driver::Camera1394Driver::srv_ [private] |
Definition at line 101 of file driver1394.h.
volatile driver_base::Driver::state_t camera1394_driver::Camera1394Driver::state_ [private] |
driver state variables
Definition at line 88 of file driver1394.h.
diagnostic_updater::TopicDiagnostic camera1394_driver::Camera1394Driver::topic_diagnostics_ [private] |
Definition at line 119 of file driver1394.h.
double camera1394_driver::Camera1394Driver::topic_diagnostics_max_freq_ [private] |
Definition at line 118 of file driver1394.h.
double camera1394_driver::Camera1394Driver::topic_diagnostics_min_freq_ [private] |
Definition at line 117 of file driver1394.h.