finally compiles

CMakeLists.txt

@@ -14,7 +14,7 @@ else()
 endif()
 
 find_package(catkin REQUIRED COMPONENTS
-    roscpp nodelet camera_base cv_brdige
+    roscpp nodelet camera_base cv_bridge
     )
 find_package(OpenCV)
 
@@ -31,8 +31,8 @@ catkin_package(
     #  DEPENDS system_lib
     )
 
-include_directories(include)
 include_directories(
+    include
     ${catkin_INCLUDE_DIRS}
     ${EBUS_INCLUDE_DIRS}
     ${OpenCV_INCLUDE_DIRS}
@@ -49,6 +49,14 @@ target_link_libraries(${PROJECT_NAME}
     ${EBUS_LIBRARIES}
     )
 
+# node
+add_executable(${PROJECT_NAME}_node
+    src/flir_gige/flir_gige_main.cpp
+    )
+target_link_libraries(${PROJECT_NAME}_node
+    ${PROJECT_NAME}
+    )
+
 ## Add cmake target dependencies of the executable/library
 add_dependencies(${PROJECT_NAME}
     ${catkin_EXPORTED_TARGETS}
@@ -57,10 +65,3 @@ add_dependencies(${PROJECT_NAME}
     ${${PROJECT_NAME}_EXPORTED_TARGETS}
     )
 
-# node
-add_executable(${PROJECT_NAME}_node
-    src/flir_gige/flir_gige_main.cpp
-    )
-target_link_libraries(${PROJECT_NAME}_node
-    ${PROJECT_NAME}
-    )

cfg/FlirGigeDyn.cfg

@@ -8,4 +8,4 @@ gen = ParameterGenerator()
 gen.add("fps", double_t, 0, "frame per second", 20, 1, 60)
 gen.add("raw", bool_t, 0, "Raw 14-bit data", False)
 
-exit(gen.generate(PACKAGE, "flir_gige", "FlirDyn"))
+exit(gen.generate(PACKAGE, "flir_gige", "FlirGigeDyn"))

include/flir_gige/flir_gige.h

@@ -14,6 +14,7 @@
 #include <PvPipeline.h>
 
 #include <sensor_msgs/Image.h>
+#include <flir_gige/FlirGigeDynConfig.h>
 
 #include "flir_gige/planck.h"
 
@@ -32,36 +33,33 @@ class FlirGige {
   FlirGige(const std::string &ip_address);
 
   const std::string &ip_address() const { return ip_address_; }
-  const std::string &display_id() const { return display_di_; }
-
-  void Connect();
-
-  void Start();
-
-  void Stop();
-
-  void Disconnect();
+  const std::string &display_id() const { return display_id_; }
+  bool ready() const { return ready_; }
 
   void Configure(FlirGigeDynConfig &config);
+  bool GrabImage(sensor_msgs::Image &image_msg);
 
  private:
   using PvDevicePtr = std::unique_ptr<PvDevice, FreeDevice>;
   using PvStreamPtr = std::unique_ptr<PvStream, FreeStream>;
   using PvPipelinePtr = std::unique_ptr<PvPipeline>;
 
-  void FindDevice(const std::string &ip);
+  bool FindDevice(const std::string &ip);
   std::string AvailableDevice() const;
+
+  void Connect();
+  void Disconnect();
   void ConnectDevice();
   void OpenStream();
   void ConfigureStream();
   void CreatePipeline();
   void StartAcquisition();
   void StopAcquisition();
-  void AcquireImages();
-  void LabeledOutput(const std::string &msg) const;
 
-  double GetSpotPixel(const cv::Mat &image) const;
-  void SetPixelFormat(int bit);
+  void SetAoi(int *width, int *height);
+//  void SetPixelFormat(int bit);
+
+//  double GetSpotPixel(const cv::Mat &image) const;
 
   std::string ip_address_;
   std::string display_id_;
@@ -70,6 +68,9 @@ class FlirGige {
   PvDevicePtr device_;
   PvStreamPtr stream_;
   PvPipelinePtr pipeline_;
+  PvGenParameterArray *param_array_;
+  bool ready_;
+  bool raw_;
 };
 
 }  // namespace flir_gige

include/flir_gige/flir_gige_ros.h

@@ -11,7 +11,8 @@ class FlirGigeRos : public CameraRosBase {
   FlirGigeRos(const ros::NodeHandle& nh)
       : CameraRosBase{nh}, flir_gige_{identifier()} {}
 
-  virtual bool Grab(const sensor_msgs::ImagePtr* image_msg) override;
+  FlirGige& camera() { return flir_gige_; }
+  virtual bool Grab(const sensor_msgs::ImagePtr& image_msg) override;
 
  private:
   FlirGige flir_gige_;

include/flir_gige/planck.h

@@ -9,22 +9,21 @@ namespace flir_gige {
  * @brief The Planck constants from flir thermal camera
  */
 struct Planck {
-  Planck() = default;
-  Planck(const double B, const double F, const double O, const double R)
-      : B{B}, F{F}, O{O}, R{R} {}
+  Planck() : B{0}, F{0}, O{0}, R{0} {}
+  Planck(double B, double F, double O, double R) : B{B}, F{F}, O{O}, R{R} {}
 
   double B;
   double F;
   double O;
   double R;
-  static const double kT0{273.15};  ///< Kelvin at 0 celcius
+  static constexpr double kT0{273.15};  ///< Kelvin at 0 celcius
 
   /**
    * @brief CelsiusToRaw Convert celsius to 16-bit raw data
    * @param t Celcius
    * @return raw data
    */
-  inline int CelsiusToRaw(const double t) const {
+  int CelsiusToRaw(const double t) const {
     return R / (std::exp(B / (t + kT0)) - F) + O;
   }
 
@@ -33,7 +32,7 @@ struct Planck {
    * @param s Raw data
    * @return temperature in celsius
    */
-  inline double RawToCelsius(const int s) const {
+  double RawToCelsius(const int s) const {
     return B / std::log(R / (s - O) + F) - kT0;
   }
 };

nodelet_plugins.xml

@@ -1,5 +1,5 @@
 <library path="lib/libflir_gige">
-    <class name="flir_gige/FlirNodelet" type="flir_gige::FlirNodelet"
+    <class name="flir_gige/FlirGigeNodelet" type="flir_gige::FlirGigeNodelet"
         base_class_type="nodelet::Nodelet">
         <description>
             This is a nodelet for the Flir thermal camera