Transferred to git/github (attempt 2)

.gitignore

@@ -0,0 +1,21 @@
+.project
+.cproject
+.pydevproject
+CMakeFiles
+msg_gen
+srv_gen
+CMakeCache.txt
+cmake_install.cmake
+build
+*.pyc
+bin/
+CPackConfig.cmake
+CPackSourceConfig.cmake
+doxygen.cfg
+*.bag
+moc_*
+~*
+*.cfgc
+docs
+lib
+.settings

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+set(ROS_BUILD_TYPE RelWithAsserts)
+
+rosbuild_init()
+
+set(ROS_COMPILE_FLAGS "${ROS_COMPILE_FLAGS} -Wall -Wno-deprecated -Wno-unused-result -std=c++0x")
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+set(UEYE_INCLUDE_PATH /usr/include)
+set(UEYE_LIBRARY_PATH /usr/lib)
+set(UEYE_LIBRARY ueye_api)
+set(UEYECAM_NODELET_NAME ueye_cam_nodelet)
+set(UEYECAM_NODE_NAME ueye_cam)
+set(UEYECAM_LIB_NAME ueye_wrapper)
+
+set(UEYECAM_NODE_SOURCES
+  ${CMAKE_SOURCE_DIR}/src/ueye_cam_node.cpp
+)
+
+set(UEYECAM_LIB_SOURCES
+  ${CMAKE_SOURCE_DIR}/src/ueye_cam_driver.cpp
+)
+
+set(UEYECAM_LIB_HEADERS
+  ${CMAKE_SOURCE_DIR}/include/logging_macros.hpp
+  ${CMAKE_SOURCE_DIR}/include/ueye_cam_driver.hpp
+)
+
+set(UEYECAM_NODELET_SOURCES
+  ${CMAKE_SOURCE_DIR}/src/ueye_cam_nodelet.cpp
+)
+
+set(UEYECAM_NODELET_HEADERS
+  ${CMAKE_SOURCE_DIR}/include/ueye_cam_nodelet.hpp
+)
+
+include_directories(${UEYE_INCLUDE_PATH})
+link_directories(${UEYE_LIBRARY_PATH})
+
+# Add dynamic reconfigure API
+rosbuild_find_ros_package(dynamic_reconfigure)
+include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
+gencfg()
+
+rosbuild_add_library(${UEYECAM_LIB_NAME} ${UEYECAM_LIB_SOURCES} ${UEYECAM_LIB_HEADERS})
+target_link_libraries(${UEYECAM_LIB_NAME} ${UEYE_LIBRARY})
+
+rosbuild_add_library(${UEYECAM_NODELET_NAME} ${UEYECAM_NODELET_SOURCES} ${UEYECAM_NODELET_HEADERS})
+target_link_libraries(${UEYECAM_NODELET_NAME} ${UEYECAM_LIB_NAME})
+
+rosbuild_add_executable(${UEYECAM_NODE_NAME} ${UEYECAM_NODE_SOURCES})

LICENSE

@@ -0,0 +1,46 @@
+/*******************************************************************************
+* DO NOT MODIFY - AUTO-GENERATED
+*
+*
+* DISCLAMER:
+*
+* This project was created within an academic research setting, and thus should
+* be considered as EXPERIMENTAL code. There may be bugs and deficiencies in the
+* code, so please adjust expectations accordingly. With that said, we are
+* intrinsically motivated to ensure its correctness (and often its performance).
+* Please use the corresponding web repository tool (e.g. github/bitbucket/etc.)
+* to file bugs, suggestions, pull requests; we will do our best to address them
+* in a timely manner.
+*
+*
+* SOFTWARE LICENSE AGREEMENT (BSD LICENSE):
+*
+* Copyright (c) 2013, Anqi Xu
+* 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 School of Computer Science, McGill University,
+*    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.
+*******************************************************************************/

Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

README.md

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+**DISCLAMER:**
+
+This project was created within an academic research setting, and thus should
+be considered as EXPERIMENTAL code. There may be bugs and deficiencies in the
+code, so please adjust expectations accordingly. With that said, we are
+intrinsically motivated to ensure its correctness (and often its performance).
+Please use the corresponding web repository tool (e.g. github, bitbucket, etc)
+to file bugs, suggestions, pull requests; we will do our best to address them
+in a timely manner.
+
+
+**LAYOUT:**
+- ueye_cam/
+  - bin/:                 compiled executables
+  - build/:               CMake-based build files
+  - cfg/:                 dynamic_reconfigure configuration files
+  - docs/:                generated documents
+  - include/:             header files
+  - launch/:              roslaunch files
+  - lib/:                 compiled libraries
+  - src/:                 source files
+  - CMakeLists.txt:       CMake project configuration file
+  - LICENSES:             license agreement
+  - mainpage.dox:         ROS main documentation page
+  - Makefile:             ROS CMake package bootstrap makefile (DO NOT MODIFY!)
+  - manifest.xml:         ROS manifest file
+  - nodelet_plugins.xml:  ROS nodelet specification file
+  - README.md:            this file
+- ~/.ros/camera_info/:    camera calibration yaml files
+                          (see documentation for camera_calibration ROS package
+                          for more details)
+- ~/.ros/camera_conf/:    UEye camera parameter configuration files
+                          (generatable using ueyedemo executable:
+                          File -> save parameter -> to file...)
+
+
+**DOCUMENTATION:**
+
+www.ros.org/wiki/ueye_cam
+
+
+
+Copyright (c) 2013, Anqi Xu
+
+All rights reserved.
+
+BSD3 license: see LICENSE file

cfg/UEyeCam.cfg

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+#!/usr/bin/env python
+PACKAGE = "ueye_cam"
+import roslib; roslib.load_manifest(PACKAGE)
+
+from dynamic_reconfigure.parameter_generator import *
+
+from driver_base.msg import SensorLevels
+
+gen = ParameterGenerator()
+
+gen.add("image_width", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Image width (not withstanding subsampling, binning, or sensor scaling)", 640, 16, 2560)
+gen.add("image_height", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Image height (not withstanding subsampling, binning, or sensor scaling)", 480, 4, 1920) 
+gen.add("image_left", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Left side index for image in sensor coordinates (-1: center)", -1, -1, 2560-16)
+gen.add("image_top", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Top side index for image in sensor coordinates (-1: center)", -1, -1, 1920-4)
+
+color_mode_enum = gen.enum([
+  gen.const("MONO8", str_t, "mono8", "8-bit Monochrome"),
+  gen.const("RGB8", str_t, "rgb8", "24-bit Red/Green/Blue"),
+  gen.const("BAYER_RGGB8", str_t, "bayer_rggb8", "8-bit Raw Bayer (RGGB)")],
+  "Color mode values")
+gen.add("color_mode", str_t, SensorLevels.RECONFIGURE_STOP,
+  "Output image color mode", "mono8", edit_method=color_mode_enum)
+
+subsampling_enum = gen.enum([
+  gen.const("SUB_1X", int_t, 1, "1X Subsampling"),
+  gen.const("SUB_2X", int_t, 2, "2X Subsampling"),
+  gen.const("SUB_4X", int_t, 4, "4X Subsampling"),
+  gen.const("SUB_8X", int_t, 8, "8X Subsampling"),
+  gen.const("SUB_16X", int_t, 16, "16X Subsampling")],
+  "Subsampling Values")
+gen.add("subsampling", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Output image subsampling ratio", 1, edit_method=subsampling_enum)
+
+binning_enum = gen.enum([
+  gen.const("BIN_1X", int_t, 1, "1X Binning"),
+  gen.const("BIN_2X", int_t, 2, "2X Binning"),
+  gen.const("BIN_4X", int_t, 4, "4X Binning"),
+  gen.const("BIN_8X", int_t, 8, "8X Binning"),
+  gen.const("BIN_16X", int_t, 16, "16X Binning")],
+  "Binning Values")
+gen.add("binning", int_t, SensorLevels.RECONFIGURE_STOP,
+  "Output image binning ratio", 1, edit_method=binning_enum)
+
+sensor_scaling_enum = gen.enum([
+  gen.const("SS_1X", double_t, 1.0, "1X Internal Image Scaling"),
+  gen.const("SS_2X", double_t, 2.0, "2X Internal Image Scaling"),
+  gen.const("SS_4X", double_t, 4.0, "4X Internal Image Scaling"),
+  gen.const("SS_8X", double_t, 8.0, "8X Internal Image Scaling"),
+  gen.const("SS_16X", double_t, 16.0, "16X Internal Image Scaling")],
+  "Internal Image Scaling Values")
+gen.add("sensor_scaling", double_t, SensorLevels.RECONFIGURE_STOP,
+  "Output image scaling ratio (Internal Image Scaling)", 1, edit_method=sensor_scaling_enum)
+
+gen.add("auto_gain", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Auto gain (overruled by auto framerate)", False)
+gen.add("master_gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Master gain percentage", 0, 0, 100)
+gen.add("red_gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Gain percentage for red channel", 0, 0, 100)
+gen.add("green_gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Gain percentage for red channel", 0, 0, 100)
+gen.add("blue_gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Gain percentage for red channel", 0, 0, 100)
+gen.add("gain_boost", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Analog gain boost", False)
+
+gen.add("auto_exposure", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Auto exposure (a.k.a. auto shutter)", False)
+gen.add("exposure", double_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Exposure value (ms)", 33.0, 0.0, 300.0)
+
+gen.add("auto_white_balance", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Auto white balance", False)
+gen.add("white_balance_red_offset", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Red level offset for white balance", 0, -50, 50)
+gen.add("white_balance_blue_offset", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Blue level offset for white balance", 0, -50, 50)
+
+gen.add("auto_frame_rate", bool_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Auto frame rate (requires auto exposure, supercedes auto gain)", False) 
+gen.add("frame_rate", double_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Frame rate (Hz)", 10.0, 0.01, 200.0)
+gen.add("pixel_clock", int_t, SensorLevels.RECONFIGURE_RUNNING,
+  "Pixel clock (MHz)", 25, 1, 100)
+
+exit(gen.generate(PACKAGE, "ueye_cam", "UEyeCam"))

include/logging_macros.hpp

@@ -0,0 +1,112 @@
+/*******************************************************************************
+* DO NOT MODIFY - AUTO-GENERATED
+*
+*
+* DISCLAMER:
+*
+* This project was created within an academic research setting, and thus should
+* be considered as EXPERIMENTAL code. There may be bugs and deficiencies in the
+* code, so please adjust expectations accordingly. With that said, we are
+* intrinsically motivated to ensure its correctness (and often its performance).
+* Please use the corresponding web repository tool (e.g. github/bitbucket/etc.)
+* to file bugs, suggestions, pull requests; we will do our best to address them
+* in a timely manner.
+*
+*
+* SOFTWARE LICENSE AGREEMENT (BSD LICENSE):
+*
+* Copyright (c) 2013, Anqi Xu
+* 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 School of Computer Science, McGill University,
+*    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.
+*******************************************************************************/
+
+#ifndef LOGGING_MACROS_HPP_
+#define LOGGING_MACROS_HPP_
+
+/**
+ * This header allows potentially ROS-agnostic code to either use ROS logging
+ * mechanisms, ROS nodelet logging mechanisms, or standard output mechanisms.
+ */
+
+#define STD_LOGGING_MACROS 0
+#define ROS_LOGGING_MACROS 1
+#define NODELET_LOGGING_MACROS 2
+#define LOGGING_MACROS_TYPE NODELET_LOGGING_MACROS
+
+
+#if LOGGING_MACROS_TYPE == ROS_LOGGING_MACROS
+
+  #include <ros/console.h>
+
+  #define DEBUG(...) ROS_DEBUG(__VA_ARGS__)
+  #define INFO(...) ROS_INFO(__VA_ARGS__)
+  #define WARN(...) ROS_WARN(__VA_ARGS__)
+  #define ERROR(...) ROS_ERROR(__VA_ARGS__)
+  #define FATAL(...) ROS_FATAL(__VA_ARGS__)
+  #define DEBUG_STREAM(...) ROS_DEBUG_STREAM(__VA_ARGS__)
+  #define INFO_STREAM(...) ROS_INFO_STREAM(__VA_ARGS__)
+  #define WARN_STREAM(...) ROS_WARN_STREAM(__VA_ARGS__)
+  #define ERROR_STREAM(...) ROS_ERROR_STREAM(__VA_ARGS__)
+  #define FATAL_STREAM(...) ROS_FATAL_STREAM(__VA_ARGS__)
+
+#elif LOGGING_MACROS_TYPE == NODELET_LOGGING_MACROS
+
+  #include <ros/ros.h>
+  #include <nodelet/nodelet.h>
+
+  using namespace ros::this_node;
+
+  #define DEBUG(...) NODELET_DEBUG(__VA_ARGS__)
+  #define INFO(...) NODELET_INFO(__VA_ARGS__)
+  #define WARN(...) NODELET_WARN(__VA_ARGS__)
+  #define ERROR(...) NODELET_ERROR(__VA_ARGS__)
+  #define FATAL(...) NODELET_FATAL(__VA_ARGS__)
+  #define DEBUG_STREAM(...) NODELET_DEBUG_STREAM(__VA_ARGS__)
+  #define INFO_STREAM(...) NODELET_INFO_STREAM(__VA_ARGS__)
+  #define WARN_STREAM(...) NODELET_WARN_STREAM(__VA_ARGS__)
+  #define ERROR_STREAM(...) NODELET_ERROR_STREAM(__VA_ARGS__)
+  #define FATAL_STREAM(...) NODELET_FATAL_STREAM(__VA_ARGS__)
+
+#else
+  #include <cstdio>
+  #include <iostream>
+
+  #define DEBUG(...) fprintf(stdout, "DEBUG> "); fprintf(stdout, __VA_ARGS__); fprintf(stdout, "\n")
+  #define INFO(...) fprintf(stdout, "INFO > "); fprintf(stdout, __VA_ARGS__); fprintf(stdout, "\n")
+  #define WARN(...) fprintf(stderr, "WARN > "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+  #define ERROR(...) fprintf(stderr, "ERROR> "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+  #define FATAL(...) fprintf(stderr, "FATAL> "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+  #define DEBUG_STREAM(...) std::cout << "DEBUG> " << __VA_ARGS__ << std::endl
+  #define INFO_STREAM(...) std::cout << "INFO > " << __VA_ARGS__ << std::endl
+  #define WARN_STREAM(...) std::cerr << "WARN > " << __VA_ARGS__ << std::endl
+  #define ERROR_STREAM(...) std::cerr << "ERROR> " << __VA_ARGS__ << std::endl
+  #define FATAL_STREAM(...) std::cerr << "FATAL> " << __VA_ARGS__ << std::endl
+
+#endif
+
+#endif /* LOGGING_MACROS_HPP_ */