camera.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef IS_CAMERA_CAMERA_H_
#define IS_CAMERA_CAMERA_H_
 
#include <config_reader/config_reader.h>
#include <image_transport/image_transport.h>
#include <nodelet/nodelet.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <ff_msgs/SetBool.h>
#include <ff_msgs/SetExposure.h>
#include <ff_util/ff_nodelet.h>
#include <std_msgs/Int32MultiArray.h>
 
#include <thread>
#include <atomic>
#include <string>
 
namespace is_camera {
 
// Functions used to interact with Video4Linux
struct buffer {
  void *start;
  size_t length;
};
 
static void xioctl(int fh, int request, void *arg);
 
// Class to hide V4L structures
struct V4LStruct;
 
// Nodelet class
class CameraNodelet : public ff_util::FreeFlyerNodelet {
 public:
  // The size of the image message ring buffer for publishing
  // grayscale images.  30 images = 35.2 MB of buffer space. This
  // number is so large because it sets the lifetime for each image
  // message sent out. Eventually we'll write over the pointer we've
  // handed out. At 15 Hz, 30 frames means an image will stay valid
  // for 2.0 seconds.  Localization can process at 1 Hz, so it only
  // needs an image for 1.0 second.
  static constexpr size_t kImageMsgBuffer = 30;
 
  // The size of the image message ring buffer for publishing raw
  // Bayer format images.  The same comments apply about message
  // lifetime, but in this case we're publishing at a lower rate and
  // expecting the subscriber callback to at most de-Bayer the image
  // before passing it on, so the buffer doesn't need to be so long.
  static constexpr size_t kBayerImageMsgBufferLength = 5;
 
  static constexpr size_t kImageWidth = 1280;
  static constexpr size_t kImageHeight = 960;
 
  CameraNodelet();
  virtual ~CameraNodelet();
  void ReadParams(void);
 
 protected:
  virtual void Initialize(ros::NodeHandle* nh);
 
 private:
  void PublishLoop();
  void LoadCameraInfo();
  void EnableBayer(bool enable);
  void AutoExposure();
  size_t getNumBayerSubscribers();
  bool SetExposure(ff_msgs::SetExposure::Request  &req, ff_msgs::SetExposure::Response &res);
 
  sensor_msgs::CameraInfo info_msg_;
 
  ros::NodeHandle *nh_;
  sensor_msgs::ImagePtr img_msg_buffer_[kImageMsgBuffer];
  sensor_msgs::ImagePtr bayer_img_msg_buffer_[kBayerImageMsgBufferLength];
  size_t img_msg_buffer_idx_;
  size_t bayer_img_msg_buffer_idx_;
  std::thread thread_;
  std::atomic<bool> thread_running_;
  ros::Publisher pub_;
  ros::Publisher info_pub_;
  ros::Publisher bayer_pub_;
  ros::Publisher pub_exposure_;
  ros::ServiceServer srv_exposure_;
  std::shared_ptr<V4LStruct> v4l_;
 
  config_reader::ConfigReader config_;
  ros::Timer config_timer_;
  ros::Timer auto_exposure_timer_;
  std::string camera_device_;
  std::string camera_topic_;
  std::string bayer_camera_topic_;
  std::string config_name_;
  int camera_gain_, camera_exposure_, camera_auto_exposure_;
  bool calibration_mode_;
 
  // bayer_enable: Set to true to enable publishing raw Bayer image
  // (can be converted to RGB). May incur significant I/O overhead.
  bool bayer_enable_;
 
  // bayer_throttle_ratio: Set to n to publish 1 raw Bayer image for
  // every n images grabbed. With n = 1, every image is
  // published. Larger n reduces I/O overhead.
  unsigned int bayer_throttle_ratio_;
  size_t bayer_throttle_ratio_counter_;
 
  // Auto exposure parameters
  bool auto_exposure_;
  int hist_size_;
  double desired_msv_, k_p_, k_i_, max_i_, err_p_, err_i_, tolerance_;
};
 
}  // end namespace is_camera
 
#endif  // IS_CAMERA_CAMERA_H_