image_proc: image_proc.cpp Source File

00001 /*********************************************************************
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00034 
00035 #include <ros/ros.h>
00036 #include <nodelet/loader.h>
00037 #include <image_proc/advertisement_checker.h>
00038 
00039 int main(int argc, char **argv)
00040 {
00041   ros::init(argc, argv, "image_proc");
00042 
00043   // Check for common user errors
00044   if (ros::names::remap("camera") != "camera")
00045   {
00046     ROS_WARN("Remapping 'camera' has no effect! Start image_proc in the "
00047              "camera namespace instead.\nExample command-line usage:\n"
00048              "\t$ ROS_NAMESPACE=%s rosrun image_proc image_proc",
00049              ros::names::remap("camera").c_str());
00050   }
00051   if (ros::this_node::getNamespace() == "/")
00052   {
00053     ROS_WARN("Started in the global namespace! This is probably wrong. Start image_proc "
00054              "in the camera namespace.\nExample command-line usage:\n"
00055              "\t$ ROS_NAMESPACE=my_camera rosrun image_proc image_proc");
00056   }
00057 
00058   // Shared parameters to be propagated to nodelet private namespaces
00059   ros::NodeHandle private_nh("~");
00060   XmlRpc::XmlRpcValue shared_params;
00061   int queue_size;
00062   if (private_nh.getParam("queue_size", queue_size))
00063     shared_params["queue_size"] = queue_size;
00064 
00065   nodelet::Loader manager(false); // Don't bring up the manager ROS API
00066   nodelet::M_string remappings;
00067   nodelet::V_string my_argv;
00068   my_argv.push_back("--no-input-checks"); // Avoid redundant topic advertisement checks
00069 
00070   // Debayer nodelet, image_raw -> image_mono, image_color
00071   std::string debayer_name = ros::this_node::getName() + "_debayer";
00072   manager.load(debayer_name, "image_proc/debayer", remappings, my_argv);
00073 
00074   // Rectify nodelet, image_mono -> image_rect
00075   std::string rectify_mono_name = ros::this_node::getName() + "_rectify_mono";
00076   if (shared_params.valid())
00077     ros::param::set(rectify_mono_name, shared_params);
00078   manager.load(rectify_mono_name, "image_proc/rectify", remappings, my_argv);
00079 
00080   // Rectify nodelet, image_color -> image_rect_color
00081   // NOTE: Explicitly resolve any global remappings here, so they don't get hidden.
00082   remappings["image_mono"] = ros::names::resolve("image_color");
00083   remappings["image_rect"] = ros::names::resolve("image_rect_color");
00084   std::string rectify_color_name = ros::this_node::getName() + "_rectify_color";
00085   if (shared_params.valid())
00086     ros::param::set(rectify_color_name, shared_params);
00087   manager.load(rectify_color_name, "image_proc/rectify", remappings, my_argv);
00088 
00089   // Check for only the original camera topics
00090   ros::V_string topics;
00091   topics.push_back("image_raw");
00092   topics.push_back("camera_info");
00093   image_proc::AdvertisementChecker check_inputs(ros::NodeHandle(), ros::this_node::getName());
00094   check_inputs.start(topics, 60.0);
00095   
00096   ros::spin();
00097   return 0;
00098 }