From 08ad9149dc8bff323a9ee3b9af423e1d15e962d8 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Tue, 13 Dec 2016 08:37:32 +0100
Subject: [PATCH] cleaning folder to change node type to driver
---
CMakeLists.txt | 112 ---------------
cfg/Mvbluefox3Camera.cfg | 43 ------
include/mvbluefox3_camera_alg.h | 197 ---------------------------
include/mvbluefox3_camera_alg_node.h | 139 -------------------
package.xml | 60 --------
src/mvbluefox3_camera_alg.cpp | 71 ----------
src/mvbluefox3_camera_alg_node.cpp | 120 ----------------
7 files changed, 742 deletions(-)
delete mode 100644 CMakeLists.txt
delete mode 100755 cfg/Mvbluefox3Camera.cfg
delete mode 100644 include/mvbluefox3_camera_alg.h
delete mode 100644 include/mvbluefox3_camera_alg_node.h
delete mode 100644 package.xml
delete mode 100644 src/mvbluefox3_camera_alg.cpp
delete mode 100644 src/mvbluefox3_camera_alg_node.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 14d4895..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,112 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(iri_mvbluefox3_camera)
-
-## Find catkin macros and libraries
-find_package(catkin REQUIRED)
-# ********************************************************************
-# Add catkin additional components here
-# ********************************************************************
-find_package(catkin REQUIRED COMPONENTS iri_base_algorithm cv_bridge image_transport camera_info_manager sensor_msgs)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-find_package(mvbluefox3 REQUIRED)
-find_package(mvIMPACT REQUIRED)
-
-ADD_DEFINITIONS(-DHAVE_OPENCV_H)
-
-# ********************************************************************
-# Add system and labrobotica dependencies here
-# ********************************************************************
-# find_package(<dependency> REQUIRED)
-
-# ********************************************************************
-# Add topic, service and action definition here
-# ********************************************************************
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-# ********************************************************************
-# Add the dynamic reconfigure file
-# ********************************************************************
-generate_dynamic_reconfigure_options(cfg/Mvbluefox3Camera.cfg)
-
-# ********************************************************************
-# Add run time dependencies here
-# ********************************************************************
-catkin_package(
-# INCLUDE_DIRS
-# LIBRARIES
-# ********************************************************************
-# Add ROS and IRI ROS run time dependencies
-# ********************************************************************
- CATKIN_DEPENDS iri_base_algorithm cv_bridge image_transport camera_info_manager sensor_msgs
-# ********************************************************************
-# Add system and labrobotica run time dependencies here
-# ********************************************************************
- DEPENDS mvbluefox3 mvIMPACT
-)
-
-###########
-## Build ##
-###########
-
-# ********************************************************************
-# Add the include directories
-# ********************************************************************
-include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${mvbluefox3_INCLUDE_DIR})
-include_directories(${mvIMPACT_INCLUDE_DIR})
-# include_directories(${<dependency>_INCLUDE_DIR})
-
-## Declare a cpp library
-# add_library(${PROJECT_NAME} <list of source files>)
-
-## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/mvbluefox3_camera_alg.cpp src/mvbluefox3_camera_alg_node.cpp)
-
-# ********************************************************************
-# Add the libraries
-# ********************************************************************
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-target_link_libraries(${PROJECT_NAME} ${mvbluefox3_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${mvIMPACT_LIBRARY})
-# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
-
-# ********************************************************************
-# Add message headers dependencies
-# ********************************************************************
-# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME} cv_bridge_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME} image_transport_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME} camera_info_manager_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME} sensor_msgs_generate_messages_cpp)
-# ********************************************************************
-# Add dynamic reconfigure dependencies
-# ********************************************************************
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
diff --git a/cfg/Mvbluefox3Camera.cfg b/cfg/Mvbluefox3Camera.cfg
deleted file mode 100755
index 600389f..0000000
--- a/cfg/Mvbluefox3Camera.cfg
+++ /dev/null
@@ -1,43 +0,0 @@
-#! /usr/bin/env python
-#* All rights reserved.
-#*
-#* Redistribution and use in source and binary forms, with or without
-#* modification, are permitted provided that the following conditions
-#* are met:
-#*
-#* * Redistributions of source code must retain the above copyright
-#* notice, this list of conditions and the following disclaimer.
-#* * Redistributions in binary form must reproduce the above
-#* copyright notice, this list of conditions and the following
-#* disclaimer in the documentation and/or other materials provided
-#* with the distribution.
-#* * Neither the name of the Willow Garage nor the names of its
-#* contributors may be used to endorse or promote products derived
-#* from this software without specific prior written permission.
-#*
-#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#* POSSIBILITY OF SUCH DAMAGE.
-#***********************************************************
-
-# Author:
-
-PACKAGE='iri_mvbluefox3_camera'
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-# Name Type Reconfiguration level Description Default Min Max
-#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-
-exit(gen.generate(PACKAGE, "Mvbluefox3CameraAlgorithm", "Mvbluefox3Camera"))
diff --git a/include/mvbluefox3_camera_alg.h b/include/mvbluefox3_camera_alg.h
deleted file mode 100644
index 4b872c1..0000000
--- a/include/mvbluefox3_camera_alg.h
+++ /dev/null
@@ -1,197 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _mvbluefox3_camera_alg_h_
-#define _mvbluefox3_camera_alg_h_
-
-#include <iri_mvbluefox3_camera/Mvbluefox3CameraConfig.h>
-
-#include "mvbluefox3.h"
-
-/**
- * \brief IRI ROS Specific Driver Class
- *
- *
- */
-class Mvbluefox3CameraAlgorithm
-{
- protected:
- /**
- * \brief define config type
- *
- * Define a Config type with the Mvbluefox3CameraConfig. All driver implementations
- * will then use the same variable type Config.
- */
- pthread_mutex_t access_;
-
- CMvbluefox3::CMvbluefox3* cam_ptr_; // Camera pointer.
-
- /**
- * \brief Delete pointer
- *
- * Function to delete pointers.
- */
- template <typename Ptr_t>
- void DelPtr(Ptr_t &ptr)
- {
- if (ptr != NULL)
- {
- ptr = NULL;
- delete [] ptr;
- }
- }
-
- public:
-
- /**
- * \brief define config type
- *
- * Define a Config type with the Mvbluefox3CameraConfig. All driver implementations
- * will then use the same variable type Config.
- */
- typedef iri_mvbluefox3_camera::Mvbluefox3CameraConfig Config;
-
- /**
- * \brief config variable
- *
- * This variable has all the driver parameters defined in the cfg config file.
- * Is updated everytime function config_update() is called.
- */
- Config config_;
-
- /**
- * \brief constructor
- *
- * In this constructor parameters related to the specific driver can be
- * initalized. Those parameters can be also set in the openDriver() function.
- * Attributes from the main node driver class IriBaseDriver such as loop_rate,
- * may be also overload here.
- */
- Mvbluefox3CameraAlgorithm(void);
-
- /**
- * \brief Lock Algorithm
- *
- * Locks access to the Algorithm class
- */
- void lock(void) { pthread_mutex_lock(&this->access_); };
-
- /**
- * \brief Unlock Algorithm
- *
- * Unlocks access to the Algorithm class
- */
- void unlock(void) { pthread_mutex_unlock(&this->access_); };
-
- /**
- * \brief Tries Access to Algorithm
- *
- * Tries access to Algorithm
- *
- * \return true if the lock was adquired, false otherwise
- */
- bool try_enter(void)
- {
- if(pthread_mutex_trylock(&this->access_)==0)
- return true;
- else
- return false;
- };
-
- /**
- * \brief config update
- *
- * In this function the driver parameters must be updated with the input
- * config variable. Then the new configuration state will be stored in the
- * Config attribute.
- *
- * \param new_cfg the new driver configuration state
- *
- * \param level level in which the update is taken place
- */
- void config_update(Config& config, uint32_t level=0);
-
- // here define all mvbluefox3_camera_alg interface methods to retrieve and set
- // the driver parameters
-
- /**
- * \brief Start Driver
- *
- * Start Driver.
- */
- void StartDriver(const std::string &serial);
-
- /**
- * \brief Set Configuration
- *
- * Set Configuration with params_ object (to be filled externally).
- */
- void SetConfig(CMvbluefox3::CParams ¶ms);
-
- /**
- * \brief Get Configuration
- *
- * Get Configuration.
- */
- CMvbluefox3::CParams GetConfig(void);
-
- /**
- * \brief Get image channel's depth
- *
- * Get image channel's depth.
- */
- int GetChDepth(void);
-
- /**
- * \brief Get bytes-pixel
- *
- * Get bytes-pixel.
- */
- int GetBytesXPixel(void);
-
- /**
- * \brief Get image
- *
- * Get image.
- */
- void GetImage(char *image);
- void GetImageCV(cv::Mat &image);
-
- /**
- * \brief Get real exposure time
- *
- * Get real exposure time.
- */
- int ReqExposeUs(void);
-
- /**
- * \brief Destructor
- *
- * This destructor is called when the object is about to be destroyed.
- *
- */
- ~Mvbluefox3CameraAlgorithm(void);
-};
-
-#endif
diff --git a/include/mvbluefox3_camera_alg_node.h b/include/mvbluefox3_camera_alg_node.h
deleted file mode 100644
index 3526440..0000000
--- a/include/mvbluefox3_camera_alg_node.h
+++ /dev/null
@@ -1,139 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _mvbluefox3_camera_alg_node_h_
-#define _mvbluefox3_camera_alg_node_h_
-
-#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "mvbluefox3_camera_alg.h"
-
-// [publisher subscriber headers]
-#include <camera_info_manager/camera_info_manager.h>
-#include <image_transport/image_transport.h>
-// Uncomment to use the openCV <-> ROS bridge
-//#include <cv_bridge/cv_bridge.h>
-#include <sensor_msgs/Image.h>
-
-// [service client headers]
-
-// [action server client headers]
-
-/**
- * \brief IRI ROS Specific Algorithm Class
- *
- */
-class Mvbluefox3CameraAlgNode : public algorithm_base::IriBaseAlgorithm<Mvbluefox3CameraAlgorithm>
-{
- private:
-
- CMvbluefox3::CParams params_; // Camera parameters.
-
-
- // [publisher attributes]
- // Uncomment to use the openCV <-> ROS bridge
- // cv_bridge::CvImagePtr cv_image_;
- image_transport::ImageTransport it;
-
- camera_info_manager::CameraInfoManager image_raw_camera_manager;
- image_transport::CameraPublisher image_raw_publisher_;
- sensor_msgs::Image Image_msg_;
-
-
- // [subscriber attributes]
-
- // [service attributes]
-
- // [client attributes]
-
- // [action server attributes]
-
- // [action client attributes]
-
- /**
- * \brief config variable
- *
- * This variable has all the driver parameters defined in the cfg config file.
- * Is updated everytime function config_update() is called.
- */
- Config config_;
- public:
- /**
- * \brief Constructor
- *
- * This constructor initializes specific class attributes and all ROS
- * communications variables to enable message exchange.
- */
- Mvbluefox3CameraAlgNode(void);
-
- /**
- * \brief Destructor
- *
- * This destructor frees all necessary dynamic memory allocated within this
- * this class.
- */
- ~Mvbluefox3CameraAlgNode(void);
-
- protected:
- /**
- * \brief main node thread
- *
- * This is the main thread node function. Code written here will be executed
- * in every node loop while the algorithm is on running state. Loop frequency
- * can be tuned by modifying loop_rate attribute.
- *
- * Here data related to the process loop or to ROS topics (mainly data structs
- * related to the MSG and SRV files) must be updated. ROS publisher objects
- * must publish their data in this process. ROS client servers may also
- * request data to the corresponding server topics.
- */
- void mainNodeThread(void);
-
- /**
- * \brief dynamic reconfigure server callback
- *
- * This method is called whenever a new configuration is received through
- * the dynamic reconfigure. The derivated generic algorithm class must
- * implement it.
- *
- * \param config an object with new configuration from all algorithm
- * parameters defined in the config file.
- * \param level integer referring the level in which the configuration
- * has been changed.
- */
- void node_config_update(Config &config, uint32_t level);
-
- /**
- * \brief node add diagnostics
- *
- * In this abstract function additional ROS diagnostics applied to the
- * specific algorithms may be added.
- */
- void addNodeDiagnostics(void);
-
- // [diagnostic functions]
-
- // [test functions]
-};
-
-#endif
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 6f80655..0000000
--- a/package.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>iri_mvbluefox3_camera</name>
- <version>0.0.0</version>
- <description>The iri_mvbluefox3_camera package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="asantamaria@todo.todo">asantamaria</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>LGPL</license>
-
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/iri_mvbluefox3_camera</url> -->
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>iri_base_algorithm</build_depend>
- <build_depend>cv_bridge</build_depend>
- <build_depend>image_transport</build_depend>
- <build_depend>camera_info_manager</build_depend>
- <build_depend>sensor_msgs</build_depend>
- <run_depend>iri_base_algorithm</run_depend>
- <run_depend>cv_bridge</run_depend>
- <run_depend>image_transport</run_depend>
- <run_depend>camera_info_manager</run_depend>
- <run_depend>sensor_msgs</run_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
-</package>
\ No newline at end of file
diff --git a/src/mvbluefox3_camera_alg.cpp b/src/mvbluefox3_camera_alg.cpp
deleted file mode 100644
index 66dce97..0000000
--- a/src/mvbluefox3_camera_alg.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "mvbluefox3_camera_alg.h"
-
-Mvbluefox3CameraAlgorithm::Mvbluefox3CameraAlgorithm(void)
-{
- this->cam_ptr_ = NULL;
- pthread_mutex_init(&this->access_,NULL);
-}
-
-Mvbluefox3CameraAlgorithm::~Mvbluefox3CameraAlgorithm(void)
-{
- DelPtr(this->cam_ptr_);
- pthread_mutex_destroy(&this->access_);
-}
-
-void Mvbluefox3CameraAlgorithm::config_update(Config& config, uint32_t level)
-{
- this->lock();
-
- // save the current configuration
- this->config_=config;
-
- this->unlock();
-}
-
-// Mvbluefox3CameraAlgorithm Public API
-
-void Mvbluefox3CameraAlgorithm::StartDriver(const std::string &serial)
-{
- try
- {
- this->cam_ptr_ = new CMvbluefox3::CMvbluefox3(serial);
- }catch (CMvbluefox3::CmvBlueFOX3Exception& e)
- {
- std::cout << e.what() << std::endl;
- }
-}
-
-void Mvbluefox3CameraAlgorithm::SetConfig(CMvbluefox3::CParams ¶ms)
-{
- this->cam_ptr_->SetConfig(params);
-}
-
-CMvbluefox3::CParams Mvbluefox3CameraAlgorithm::GetConfig(void)
-{
- return this->cam_ptr_->GetConfig();
-}
-
-int Mvbluefox3CameraAlgorithm::GetChDepth(void)
-{
- return this->cam_ptr_->GetChDepth();
-}
-
-int Mvbluefox3CameraAlgorithm::GetBytesXPixel(void)
-{
- return this->cam_ptr_->GetBytesXPixel();
-}
-
-void Mvbluefox3CameraAlgorithm::GetImage(char *image)
-{
- this->cam_ptr_->GetImage(&image);
-}
-
-void Mvbluefox3CameraAlgorithm::GetImageCV(cv::Mat &image)
-{
- this->cam_ptr_->GetImageCV(image);
-}
-
-int Mvbluefox3CameraAlgorithm::ReqExposeUs(void)
-{
- return this->cam_ptr_->ReqExposeUs();
-}
diff --git a/src/mvbluefox3_camera_alg_node.cpp b/src/mvbluefox3_camera_alg_node.cpp
deleted file mode 100644
index aa49515..0000000
--- a/src/mvbluefox3_camera_alg_node.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "mvbluefox3_camera_alg_node.h"
-
-#include <iostream>
-
-Mvbluefox3CameraAlgNode::Mvbluefox3CameraAlgNode(void) :
- algorithm_base::IriBaseAlgorithm<Mvbluefox3CameraAlgorithm>(),
- image_raw_camera_manager(ros::NodeHandle("~image_raw")),
- it(this->public_node_handle_)
-{
- //init class attributes if necessary
- this->loop_rate_ = 50;//in [Hz]
-
- // read parameters
- std::string serial;
- public_node_handle_.param<std::string>("serial",serial,"F0300141");
-
- this->alg_.lock();
- this->alg_.StartDriver(serial);
- this->alg_.SetConfig(this->params_);
- this->alg_.unlock();
-
- // [init publishers]
- this->image_raw_publisher_ = this->it.advertiseCamera("image_raw", 1);
-
- // uncomment the following lines to load the calibration file for the camera
- // Change <cal_file_param> for the correct parameter name holding the configuration filename
- std::string image_raw_cal_file;
- public_node_handle_.param<std::string>("calibration_file",image_raw_cal_file,"");
- if(this->image_raw_camera_manager.validateURL(image_raw_cal_file))
- {
- if(!this->image_raw_camera_manager.loadCameraInfo(image_raw_cal_file))
- ROS_INFO("Invalid calibration file");
- }
- else
- ROS_INFO("Invalid calibration file");
-
- // [init subscribers]
-
- // [init services]
-
- // [init clients]
-
- // [init action servers]
-
- // [init action clients]
-}
-
-Mvbluefox3CameraAlgNode::~Mvbluefox3CameraAlgNode(void)
-{
- // [free dynamic memory]
-}
-
-void Mvbluefox3CameraAlgNode::mainNodeThread(void)
-{
- // // [fill msg structures]
- std::string frame_id = "mvBlueFOX3";
- ros::Time start_time = ros::Time::now();
-
- // // this->alg_.lock();
- // // this->alg_.unlock();
-
- this->params_ = this->alg_.GetConfig();
-
- double numbytes = (double)(this->alg_.GetChDepth() * this->alg_.GetBytesXPixel());
-
- std::string encoding = CMvbluefox3::codings_str[this->params_.pixel_format];
-
- this->Image_msg_.width = this->params_.width;
- this->Image_msg_.height = this->params_.height;
- this->Image_msg_.step = this->params_.width*numbytes/8.0;
- this->Image_msg_.data.resize(this->params_.width*this->params_.height*numbytes/8.0);
-
- this->alg_.lock();
- this->alg_.GetImage((char *)this->Image_msg_.data.data());
- double req_dur_sec = (double)(this->alg_.ReqExposeUs())*1e-6;
- this->alg_.unlock();
- this->Image_msg_.encoding = encoding;
- this->Image_msg_.header.stamp = start_time + ros::Duration(req_dur_sec/2.0);
- this->Image_msg_.header.frame_id = frame_id;
-
- // Camera info
- sensor_msgs::CameraInfo image_raw_camera_info = this->image_raw_camera_manager.getCameraInfo();
- image_raw_camera_info.header.stamp = start_time + ros::Duration(req_dur_sec/2.0);
- image_raw_camera_info.header.frame_id = frame_id;
-
- // // [fill srv structure and make request to the server]
-
- // // [fill action structure and make request to the action server]
-
- // // [publish messages]
- // // Uncomment the following line to convert an OpenCV image to a ROS image message
- // this->Image_msg_=*this->cv_image_->toImageMsg();
-
- this->image_raw_publisher_.publish(this->Image_msg_,image_raw_camera_info);
-}
-
-/* [subscriber callbacks] */
-
-/* [service callbacks] */
-
-/* [action callbacks] */
-
-/* [action requests] */
-
-void Mvbluefox3CameraAlgNode::node_config_update(Config &config, uint32_t level)
-{
- this->alg_.lock();
- this->config_=config;
- this->alg_.unlock();
-}
-
-void Mvbluefox3CameraAlgNode::addNodeDiagnostics(void)
-{
-}
-
-/* main function */
-int main(int argc,char *argv[])
-{
- return algorithm_base::main<Mvbluefox3CameraAlgNode>(argc, argv, "mvbluefox3_camera_alg_node");
-}
--
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