image_cb_detector_action.cpp

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#include <boost/thread.hpp>
#include <ros/console.h>
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <image_cb_detector/image_cb_detector.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>
#include <image_cb_detector/ConfigAction.h>
#include <calibration_msgs/Interval.h>
 
using namespace image_cb_detector;
 
class ImageCbDetectorAction
{
public:
  ImageCbDetectorAction() : as_("cb_detector_config", false), it_(nh_)
  {
    as_.registerGoalCallback( boost::bind(&ImageCbDetectorAction::goalCallback, this) );
    as_.registerPreemptCallback( boost::bind(&ImageCbDetectorAction::preemptCallback, this) );
 
    pub_ = nh_.advertise<calibration_msgs::CalibrationPattern>("features",1);
    sub_ = it_.subscribe("image", 2, boost::bind(&ImageCbDetectorAction::imageCallback, this, _1));
    as_.start();
  }
 
  void goalCallback()
  {
    boost::mutex::scoped_lock lock(run_mutex_);
 
    // Stop the previously running goal (if it exists)
    if (as_.isActive())
      as_.setPreempted();
 
    // Get the new goal from the action server
    image_cb_detector::ConfigGoalConstPtr goal = as_.acceptNewGoal();
    assert(goal);
 
    // Try to reconfigure the settler object
    bool success = detector_.configure(*goal);
 
    // Detect possible failure
    if (!success)
      as_.setAborted();
  }
 
  void preemptCallback()
  {
    boost::mutex::scoped_lock lock(run_mutex_);
 
    // Don't need to do any cleanup. Immeadiately turn it off
    as_.setPreempted();
  }
 
  void imageCallback(const sensor_msgs::ImageConstPtr& image)
  {
    boost::mutex::scoped_lock lock(run_mutex_);
 
    if (as_.isActive())
    {
      calibration_msgs::CalibrationPattern features;
      bool success;
      success = detector_.detect(image, features);
 
      if (!success)
      {
        ROS_ERROR("Error trying to detect checkerboard, not going to publish CalibrationPattern");
        return;
      }
 
      pub_.publish(features);
    }
  }
 
private:
  boost::mutex run_mutex_;
  ros::NodeHandle nh_;
  actionlib::SimpleActionServer<image_cb_detector::ConfigAction> as_;
  ImageCbDetector detector_;
 
  ros::Publisher pub_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber sub_;
 
};
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_cb_detector_action");
  ros::NodeHandle n;
  ImageCbDetectorAction detector_action;
  ros::spin();
  return 0;
}