[Personalrobots-commit] SF.net SVN: personalrobots:[23345] pkg/trunk/stacks/camera_drivers/ wge100_camera/src/nodes/wge100_camera_node.cpp

[<bla...@us...>]

Revision: 23345
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23345&view=rev
Author:   blaisegassend
Date:     2009-08-30 05:18:24 +0000 (Sun, 30 Aug 2009)

Log Message:
-----------
Renamed cam_info to camera_info in wge100 camera driver.

Modified Paths:
--------------
    pkg/trunk/stacks/camera_drivers/wge100_camera/src/nodes/wge100_camera_node.cpp

Modified: pkg/trunk/stacks/camera_drivers/wge100_camera/src/nodes/wge100_camera_node.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/wge100_camera/src/nodes/wge100_camera_node.cpp	2009-08-30 05:17:53 UTC (rev 23344)
+++ pkg/trunk/stacks/camera_drivers/wge100_camera/src/nodes/wge100_camera_node.cpp	2009-08-30 05:18:24 UTC (rev 23345)
@@ -269,7 +269,7 @@
       config_.video_mode = "640x480x30";
     }
   
-    /// @todo add a check that width_ and height_ are set in cam_info in test bench
+    /// @todo add a check that width_ and height_ are set in camera_info in test bench
     width_ = MT9VModes[video_mode_].width;
     height_ = MT9VModes[video_mode_].height;
     imager_freq_ = MT9VModes[video_mode_].fps;
@@ -874,7 +874,7 @@
         diagnostic_,
         diagnostic_updater::FrequencyStatusParam(&driver_.desired_freq_, &driver_.desired_freq_, 0.05), 
         diagnostic_updater::TimeStampStatusParam()),
-    cam_info_pub_(ros::Publisher(), 
+    camera_info_pub_(ros::Publisher(), 
         diagnostic_,
         diagnostic_updater::FrequencyStatusParam(&driver_.desired_freq_, &driver_.desired_freq_, 0.05), 
         diagnostic_updater::TimeStampStatusParam()),
@@ -887,9 +887,9 @@
 private:  
   // Publications
   diagnostic_updater::DiagnosedPublisher<sensor_msgs::Image> cam_pub_;
-  diagnostic_updater::DiagnosedPublisher<sensor_msgs::CameraInfo> cam_info_pub_;
+  diagnostic_updater::DiagnosedPublisher<sensor_msgs::CameraInfo> camera_info_pub_;
   sensor_msgs::Image image_;
-  sensor_msgs::CameraInfo cam_info_;
+  sensor_msgs::CameraInfo camera_info_;
   
   // Calibration
   bool calibrated_;
@@ -902,8 +902,8 @@
     image_.header.stamp = t;
     cam_pub_.publish(image_);
     if (calibrated_) {
-      cam_info_.header.stamp = t;
-      cam_info_pub_.publish(cam_info_);
+      camera_info_.header.stamp = t;
+      camera_info_pub_.publish(camera_info_);
     }
 
     return 0;
@@ -914,18 +914,18 @@
     ROS_DEBUG("WGE100CameraNode::reconfigureHook called at level %x", level);
     if ((level | dynamic_reconfigure::SensorLevels::RECONFIGURE_CLOSE) == level)
     {
-      cam_info_.width = driver_.width_;
-      cam_info_.height = driver_.height_;
+      camera_info_.width = driver_.width_;
+      camera_info_.height = driver_.height_;
       image_.header.frame_id = driver_.config_.frame_id;
-      cam_info_.header.frame_id = driver_.config_.frame_id;
+      camera_info_.header.frame_id = driver_.config_.frame_id;
     }
   }
 
   void postOpenHook()
   {
     // Try to load camera intrinsics from flash memory
-    calibrated_ = driver_.loadIntrinsics(&cam_info_.K[0], &cam_info_.D[0],
-        &cam_info_.R[0], &cam_info_.P[0]);
+    calibrated_ = driver_.loadIntrinsics(&camera_info_.K[0], &camera_info_.D[0],
+        &camera_info_.R[0], &camera_info_.P[0]);
     if (calibrated_)
       ROS_INFO("Loaded intrinsics from camera");
     else
@@ -933,9 +933,9 @@
 
     // Receive frames through callback
     if (calibrated_)
-      cam_info_pub_.set_publisher(node_handle_.advertise<sensor_msgs::CameraInfo>("~cam_info", 1));
+      camera_info_pub_.set_publisher(node_handle_.advertise<sensor_msgs::CameraInfo>("~camera_info", 1));
     else
-      cam_info_pub_.set_publisher(ros::Publisher());
+      camera_info_pub_.set_publisher(ros::Publisher());
   }
 
   virtual void addDiagnostics()


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