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gazebo_ros_stereo_camera.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor.
 * Author: John Hsu
 * Date: 24 Sept 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_STEREO_CAMERA_HH
#define GAZEBO_ROS_STEREO_CAMERA_HH

#define USE_CBQ
#ifdef USE_CBQ
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#endif

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>
#include <gazebo/StereoCameraSensor.hh>

#include <OgrePrerequisites.h>
#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <OgreImageCodec.h>
#include <Ogre.h>
#include <OgreRenderTargetListener.h>

#include <sensor_msgs/PointCloud.h>

namespace gazebo
{
  class MonoCameraSensor;


class GazeboRosStereoCamera : public Controller
{
  public: GazeboRosStereoCamera(Entity *parent);

  public: virtual ~GazeboRosStereoCamera();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: virtual void UpdateChild();

  protected: virtual void FiniChild();

  private: void PutCameraData();
  private: void PublishCameraInfo();

  public: const float *GetDepthData(unsigned int i=0);
  
  private: int imageConnectCount;
  private: void ImageConnect();
  private: void ImageDisconnect();

  private: int pointCloudConnectCount;
  private: void PointCloudConnect();
  private: void PointCloudDisconnect();

  private: int infoConnectCount;
  private: void InfoConnect();
  private: void InfoDisconnect();



  private: StereoCameraSensor *myParent;

  private: ros::NodeHandle* rosnode_;
  private: ros::Publisher point_cloud_pub_, image_pub_,camera_info_pub_;

  
  private: sensor_msgs::Image imageMsg;
  private: sensor_msgs::CameraInfo cameraInfoMsg;

  private: ParamT<std::string> *imageTopicNameP;
  private: ParamT<std::string> *pointCloudTopicNameP;
  private: ParamT<std::string> *cameraInfoTopicNameP;
  private: ParamT<std::string> *frameNameP;

  
  private: ParamT<double> *CxPrimeP;       // rectified optical center x, for sim, CxPrime == Cx
  private: ParamT<double> *CxP;            // optical center x
  private: ParamT<double> *CyP;            // optical center y
  private: ParamT<double> *focal_lengthP;  // also known as focal length
  private: ParamT<double> *hack_baselineP;  // also known as focal length
  private: ParamT<double> *distortion_k1P; // linear distortion
  private: ParamT<double> *distortion_k2P; // quadratic distortion
  private: ParamT<double> *distortion_k3P; // cubic distortion
  private: ParamT<double> *distortion_t1P; // tangential distortion
  private: ParamT<double> *distortion_t2P; // tangential distortion

  private: ParamT<std::string> *robotNamespaceP;
  private: std::string robotNamespace;

  private: std::string imageTopicName;
  private: std::string pointCloudTopicName;
  private: std::string cameraInfoTopicName;
  private: std::string frameName;

  bool fillDepthImage(sensor_msgs::PointCloud& point_cloud,
                           uint32_t rows_arg,
                           uint32_t cols_arg,
                           uint32_t step_arg,
                           void* data_arg);

  private: double CxPrime;
  private: double Cx;
  private: double Cy;
  private: double focal_length;
  private: double hack_baseline;
  private: double distortion_k1;
  private: double distortion_k2;
  private: double distortion_k3;
  private: double distortion_t1;
  private: double distortion_t2;

  private: boost::mutex lock;

  private: int height, width, depth;
  private: std::string type;
  private: int skip;

  private: sensor_msgs::PointCloud pointCloudMsg;

#ifdef USE_CBQ
  private: ros::CallbackQueue camera_queue_;
  private: void CameraQueueThread();
  private: boost::thread callback_queue_thread_;
#endif
};



}
#endif

---

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:39:46 2013