camera_bb2.orogen

name "camera_bb2"
# Optionally declare the version number
# version "0.1"
using_library "frame_helper"
# If new data types need to be defined, they have to be put in a separate C++
# header, and this header will be loaded here
# Finally, it is pretty common that headers are directly loaded from an external
# library. In this case, the library must be first used (the name is the
# library's pkg-config name) and then the header can be used. Following Rock
# conventions, a common use-case would be:
#
# using_library "camera_bb2"
# import_types_from "camera_bb2/CustomType.hpp"

# If this project uses data types that are defined in other oroGen projects,
# these projects should be imported there as well.
import_types_from "base"
import_types_from "frame_helper/Calibration.h"

# Declare a new task context (i.e., a component)
#
# The corresponding C++ class can be edited in tasks/Task.hpp and
# tasks/Task.cpp, and will be put in the camera_bb2 namespace.
task_context "Task" do
    # This is the default from now on, and should not be removed. Rock will
    # transition to a setup where all components use a configuration step.
    needs_configuration

    # A configuration property (here, a std::string). Its value can be retrieved
    # in the C++ code with # _config_value.get() and _config_value.set(new_value).

    property("calibration_parameters","frame_helper/StereoCalibration").
         doc 'Intrinsic and extrinsic camera calibration parameters'+
            'for a full parameter list have a look at frame_helper'

    property("output_format", "/base/samples/frame/frame_mode_t", :MODE_GRAYSCALE).
       doc "The frames coming from the input port are converted into this format before they are written to the output port. Used for De-Bayering here."

    property("undistort", "bool", true).
       doc "output the camera images undistorted/rectified"

    #*****************************
    #******* Input Ports *********
    #*****************************
    input_port('frame_in', ro_ptr('base::samples::frame::Frame')).
        doc 'Input frame from camera firewire'

    #******************************
    #******* Output Ports *********
    #******************************
    output_port('left_frame', ro_ptr('base::samples::frame::Frame')).
        doc 'Left camera frame.'
    output_port('right_frame', ro_ptr('base::samples::frame::Frame')).
        doc 'Right camera frame.'


    # If you want that component's updateHook() to be executed when the "input"
    # port gets data, uncomment this and comment the 'periodic' line
    # port_driven "input"
    # By default, the task will be periodic with a period of 0.1
    port_driven
end