Just feel like committing

CMakeLists.txt

@@ -14,9 +14,7 @@ else()
 endif()
 
 find_package(catkin REQUIRED COMPONENTS
-    roscpp sensor_msgs std_msgs
-    image_transport camera_info_manager
-    dynamic_reconfigure cv_bridge nodelet
+    roscpp nodelet camera_base cv_brdige
     )
 find_package(OpenCV)
 
@@ -42,15 +40,13 @@ include_directories(
 
 # library
 add_library(${PROJECT_NAME}
-    src/gige_camera.cpp
-    src/flir_gige.cpp
-    src/thermal_proc/thermal_proc.cpp
-    src/thermal_proc/thermal_proc_nodelet.cpp
+    src/flir_gige/flir_gige.cpp
+    src/flir_gige/flir_gige_ros.cpp
+    src/flir_gige/flir_gige_node.cpp
     )
 target_link_libraries(${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${EBUS_LIBRARIES}
-    ${OpenCV_LIBRARIES}
     )
 
 ## Add cmake target dependencies of the executable/library
@@ -63,15 +59,8 @@ add_dependencies(${PROJECT_NAME}
 
 # node
 add_executable(${PROJECT_NAME}_node
-    src/flir_gige_node.cpp
+    src/flir_gige/flir_gige_main.cpp
     )
 target_link_libraries(${PROJECT_NAME}_node
     ${PROJECT_NAME}
     )
-
-add_executable(thermal_proc_node
-    src/thermal_proc/thermal_proc_node.cpp
-    )
-target_link_libraries(thermal_proc_node
-    ${PROJECT_NAME}
-    )

include/flir_gige/flir_gige.h

@@ -1,13 +1,7 @@
-#ifndef FLIR_GIGE_GIGE_CAMERA_H_
-#define FLIR_GIGE_GIGE_CAMERA_H_
+#ifndef FLIR_GIGE_H_
+#define FLIR_GIGE_H_
 
-#include <stdint.h>
-
-#include <string>
 #include <memory>
-#include <thread>
-#include <functional>
-#include <utility>
 
 #include <PvSystem.h>
 #include <PvDevice.h>
@@ -19,90 +13,44 @@
 #include <PvBuffer.h>
 #include <PvPipeline.h>
 
-#include <opencv2/core/core.hpp>
+#include <sensor_msgs/Image.h>
 
 #include "flir_gige/planck.h"
 
 namespace flir_gige {
 
-/**
- * @brief The BitSize enum
- */
-enum BitSize { BIT8BIT = 2, BIT14BIT };
-
-/**
- * @brief The GigeConfig struct
- */
-struct GigeConfig {
-  bool color{false};
-  int bit{2};  ///< 2 - 8bit, 3 - 14bit
-};
-
-/**
- * @brief The FreeDevice struct
- */
 struct FreeDevice {
   void operator()(PvDevice *device) const { PvDevice::Free(device); }
 };
 
-/**
- * @brief The FreeStream struct
- */
 struct FreeStream {
   void operator()(PvStream *stream) const { PvStream::Free(stream); }
 };
 
-/**
- * @brief The GigeCamera class
- */
-class GigeCamera {
+class FlirGige {
  public:
-  GigeCamera(const std::string &ip_address);
-  GigeCamera(const GigeCamera &) = delete;             // No copy constructor
-  GigeCamera &operator=(const GigeCamera &) = delete;  // No assignment operator
+  FlirGige(const std::string &ip_address);
 
-  /**
-   * @brief Connect Find and connect to device, create stream and pipeline
-   */
-  void Connect();
+  const std::string &ip_address() const { return ip_address_; }
+  const std::string &display_id() const { return display_di_; }
 
-  /**
-   * @brief Configure Configure camera before image acquisition
-   * @param config
-   */
-  void Configure(const GigeConfig &config);
+  void Connect();
 
-  /**
-   * @brief Start Start pipeline, enable stream and start acquisition
-   */
   void Start();
 
-  /**
-   * @brief Stop Stop acquisition, disable stream and stop pipeline
-   */
   void Stop();
 
-  /**
-   * @brief Disconnect Release all resources we hold
-   */
   void Disconnect();
 
-  /**
-   * @brief IsAcquire
-   * @return true if camera is acquring image
-   */
-  const bool IsAcquire() const { return acquire_; }
-
-  std::function<void(const cv::Mat &image, const Planck &planck)> use_image;
-  std::function<void(const std::pair<double, double> &spot)> use_temperature;
+  void Configure(FlirGigeDynConfig &config);
 
  private:
   using PvDevicePtr = std::unique_ptr<PvDevice, FreeDevice>;
   using PvStreamPtr = std::unique_ptr<PvStream, FreeStream>;
   using PvPipelinePtr = std::unique_ptr<PvPipeline>;
-  using ThreadPtr = std::unique_ptr<std::thread>;
 
   void FindDevice(const std::string &ip);
+  std::string AvailableDevice() const;
   void ConnectDevice();
   void OpenStream();
   void ConfigureStream();
@@ -113,24 +61,17 @@ class GigeCamera {
   void LabeledOutput(const std::string &msg) const;
 
   double GetSpotPixel(const cv::Mat &image) const;
-  void SetAoi(const int width, const int height);
-  void SetPixelFormat(BitSize bit);
-
-  bool raw_{false};
-  bool acquire_{false};
-  bool color_{false};  // false - grayscale, true - jet
-  std::string label_{"\033[0;35m[ FLIR]:\033[0m "};
+  void SetPixelFormat(int bit);
 
+  std::string ip_address_;
+  std::string display_id_;
   PvSystem system_;
   const PvDeviceInfo *dinfo_;
   PvDevicePtr device_;
   PvStreamPtr stream_;
   PvPipelinePtr pipeline_;
-  ThreadPtr image_thread_;
-  cv::Mat image_raw_;
-
-};  // class GigeCamera
+};
 
 }  // namespace flir_gige
 
-#endif  // FLIR_GIGE_GIGE_CAMERA_H_
+#endif  // FLIR_GIGE_H_

include/flir_gige/flir_gige_node.h

@@ -1,7 +1,24 @@
 #ifndef FLIR_GIGE_NODE_H_
 #define FLIR_GIGE_NODE_H_
 
+#include "flir_gige/flir_gige_ros.h"
+#include "flir_gige/FlirGigeDynConfig.h"
 #include "camera_base/camera_node_base.h"
+
 namespace flir_gige {
-}
-#endif // FLIR_GIGE_NODE_H_
+
+class FlirGigeNode : public CameraNodeBase<FlirGigeDynConfig> {
+ public:
+  FlirGigeNode(const ros::NodeHandle &nh)
+      : CameraNodeBase{nh}, flir_gige_ros_{nh} {}
+
+  virtual void Acquire() override;
+  virtual void Setup(FlirGigeDynConfig &config) override;
+
+ private:
+  FlirGigeRos flir_gige_ros_;
+};
+
+}  // namespace flir_gige
+
+#endif  // FLIR_GIGE_NODE_H_

include/flir_gige/flir_gige_ros.h

@@ -1,77 +1,22 @@
-#ifndef FLIR_GIGE_FLIR_GIGE_H_
-#define FLIR_GIGE_FLIR_GIGE_H_
+#ifndef FLIR_GIGE_ROS_H_
+#define FLIR_GIGE_ROS_H_
 
-#include <utility>
-
-#include <ros/ros.h>
-#include <sensor_msgs/Image.h>
-#include <sensor_msgs/CameraInfo.h>
-#include <dynamic_reconfigure/server.h>
-#include <image_transport/image_transport.h>
-#include <camera_info_manager/camera_info_manager.h>
-#include <cv_bridge/cv_bridge.h>
-#include <diagnostic_updater/diagnostic_updater.h>
-#include <diagnostic_updater/publisher.h>
-
-#include <opencv2/core/core.hpp>
-#include <boost/thread.hpp>
-#include <boost/shared_ptr.hpp>
-
-#include "flir_gige/planck.h"
-#include "flir_gige/gige_camera.h"
-#include "flir_gige/FlirDynConfig.h"
+#include "flir_gige/flir_gige.h"
+#include "camera_base/camera_ros_base.h"
 
 namespace flir_gige {
 
-class FlirGige {
+class FlirGigeRos : public CameraRosBase {
  public:
-  using camera_info_manager::CameraInfoManager;
-  using CameraInfoManagerPtr = boost::shared_ptr<CameraInfoManager>;
-  using FlirDynConfig = ::flir_gige::FlirDynConfig;
-
-  /**
-   * @brief FlirGige Constructor
-   * @param nh Private node handle
-   */
-  FlirGige(const ros::NodeHandle &nh);
-
-  /**
-   * @brief Run Run camera
-   */
-  void Run();
+  FlirGigeRos(const ros::NodeHandle& nh)
+      : CameraRosBase{nh}, flir_gige_{identifier()} {}
 
-  /**
-   * @brief End End camera
-   */
-  void End();
+  virtual bool Grab(const sensor_msgs::ImagePtr* image_msg) override;
 
  private:
-  void ReadConfig();
-  void PublishImage(const cv::Mat &image, const Planck &planck);
-  void PublishTemperature(const std::pair<double, double> &spot);
-  std::string GetImageEncoding(const cv::Mat &image) const;
-  void ConfigCb(FlirDynConfig &config, int level);
-
-  ros::NodeHandle nh_;                 ///< Private node handle
-  std::string frame_id_;               ///< Frame id
-  std::string camera_name_;            ///< Camera name
-  boost::shared_ptr<ros::Rate> rate_;  ///< Acquisition rate
-
-  image_transport::ImageTransport it_;           ///< Image transport
-  image_transport::CameraPublisher pub_camera_;  ///< Camera publisher
-  CameraInfoManagerPtr cinfo_manager_;           ///< Camera info manager
-  ros::Publisher pub_temperature_;               ///< Temperature publisher
-
-  FlirDynConfig config_;  ///< Reconfigure parameters
-  dynamic_reconfigure::Server<FlirDynConfig> server_;  ///< Reconfigure server
-
-  diagnostic_updater::Updater updater_;              ///< Diagnostic updater
-  diagnostic_updater::TopicDiagnostic diagnostics_;  ///< topic diagnostics
-
-  boost::shared_ptr<GigeCamera> gige_camera_;      ///< GigE camera
-  boost::shared_ptr<boost::thread> image_thread_;  ///< Image acquisition thread
+  FlirGige flir_gige_;
 };
 
 }  // namespace flir_gige
 
-#endif  // FLIR_GIGE_FLIR_GIGE_H_
+#endif  // FLIR_GIGE_ROS_H_

include/flir_gige/planck.h

@@ -17,24 +17,24 @@ struct Planck {
   double F;
   double O;
   double R;
-  const double kT0{273.15};  ///< Kelvin at 0 celcius
+  static const double kT0{273.15};  ///< Kelvin at 0 celcius
 
   /**
    * @brief CelsiusToRaw Convert celsius to 16-bit raw data
    * @param t Celcius
    * @return raw data
    */
-  int CelsiusToRaw(const double t) const {
+  inline int CelsiusToRaw(const double t) const {
     return R / (std::exp(B / (t + kT0)) - F) + O;
   }
 
   /**
    * @brief RawToCelsius Convert 16-bit raw data to celsius
-   * @param S Raw data
+   * @param s Raw data
    * @return temperature in celsius
    */
-  double RawToCelsius(const int S) const {
-    return B / std::log(R / (S - O) + F) - kT0;
+  inline double RawToCelsius(const int s) const {
+    return B / std::log(R / (s - O) + F) - kT0;
   }
 };
 

include/flir_gige/thermal_proc/thermal_proc.h → include/thermal_proc/thermal_proc_node.h

@@ -1,5 +1,5 @@
-#ifndef FLIR_GIGE_THERMAL_PROC_H_
-#define FLIR_GIGE_THERMAL_PROC_H_
+#ifndef FLIR_GIGE_THERMAL_PROC_NODE_H_
+#define FLIR_GIGE_THERMAL_PROC_NODE_H_
 
 #include <cstdint>
 #include <mutex>
@@ -51,4 +51,4 @@ Planck GetPlanck(const sensor_msgs::CameraInfo &cinfo_msg);
 
 }  // namespace flir_gige
 
-#endif  // FLIR_GIGE_THERMAL_PROC_H_
+#endif  // FLIR_GIGE_THERMAL_PROC_NODE_H_

package.xml

@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package>
   <name>flir_gige</name>
-  <version>0.0.0</version>
+  <version>0.0.1</version>
   <description>The flir_gige package</description>
 
-  <maintainer email="[email protected]">chao</maintainer>
+  <maintainer email="[email protected]">Chao Qu</maintainer>
 
   <license>BSD</license>
 
@@ -13,20 +13,12 @@
   <build_depend>roscpp</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>cv_bridge</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>camera_info_manager</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>diagnostic_updater</build_depend>
+  <build_depend>camera_base</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>cv_bridge</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>camera_info_manager</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>diagnostic_updater</run_depend>
+  <run_depend>camera_base</run_depend>
 
   <export>
       <nodelet plugin="${prefix}/nodelet_plugins.xml" />