visp_camera_calibration: visp_camera_calibration: image

00001 /****************************************************************************
00002  *
00003  * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
00004  *
00005  * This file is part of the ViSP software.
00006  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
00007  * 
00008  * This software is free software; you can redistribute it and/or
00009  * modify it under the terms of the GNU General Public License
00010  * ("GPL") version 2 as published by the Free Software Foundation.
00011  * See the file LICENSE.txt at the root directory of this source
00012  * distribution for additional information about the GNU GPL.
00013  *
00014  * For using ViSP with software that can not be combined with the GNU
00015  * GPL, please contact INRIA about acquiring a ViSP Professional 
00016  * Edition License.
00017  *
00018  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
00019  * 
00020  * This software was developed at:
00021  * INRIA Rennes - Bretagne Atlantique
00022  * Campus Universitaire de Beaulieu
00023  * 35042 Rennes Cedex
00024  * France
00025  * http://www.irisa.fr/lagadic
00026  *
00027  * If you have questions regarding the use of this file, please contact
00028  * INRIA at visp@inria.fr
00029  * 
00030  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
00031  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
00032  *
00033  * Contact visp@irisa.fr if any conditions of this licensing are
00034  * not clear to you.
00035  *
00036  * Description:
00037  * 
00038  *
00039  * Authors:
00040  * Filip Novotny
00041  * 
00042  *
00043  *****************************************************************************/
00044 
00049 #include "ros/ros.h"
00050 #include "sensor_msgs/Image.h"
00051 #include "sensor_msgs/SetCameraInfo.h"
00052 #include "visp/vpImage.h"
00053 #include "visp/vpPoint.h"
00054 #include "visp/vpCameraParameters.h"
00055 #include <vector>
00056 #include <string>
00057 #include <boost/thread/thread.hpp>
00058 
00059 
00060 #ifndef __visp_camera_calibration_IMAGE_PROCESSING_H__
00061 #define __visp_camera_calibration_IMAGE_PROCESSING_H__
00062 namespace visp_camera_calibration
00063 {
00064 class ImageProcessing
00065 {
00066   ros::NodeHandle n_;
00067   ros::AsyncSpinner spinner_;
00068 
00069   unsigned long queue_size_;
00070   bool pause_image_;
00071 
00072   ros::Subscriber raw_image_subscriber_;
00073   ros::Publisher point_correspondence_publisher_;
00074 
00075   ros::ServiceServer set_camera_info_bis_service_;
00076   ros::ServiceClient calibrate_service_;
00077 
00078   vpImage<unsigned char> img_;
00079 
00080   std::vector<vpPoint> selected_points_;
00081   std::vector<vpPoint> model_points_;
00082 
00083   vpCameraParameters cam_;
00092   void rawImageCallback(const sensor_msgs::Image::ConstPtr& image);
00093 
00098   bool setCameraInfoBisCallback(sensor_msgs::SetCameraInfo::Request  &req,
00099                              sensor_msgs::SetCameraInfo::Response &res);
00100 public:
00102   typedef boost::function<void (const sensor_msgs::Image::ConstPtr& )>
00103     raw_image_subscriber_callback_t;
00104 
00106     typedef boost::function<bool (sensor_msgs::SetCameraInfo::Request&,sensor_msgs::SetCameraInfo::Response& res)>
00107       set_camera_info_bis_service_callback_t;
00108 
00109   ImageProcessing();
00110   void interface();
00111 
00112 
00113 
00114   virtual ~ImageProcessing();
00115 };
00116 }
00117 #endif /* IMAGE_PROCESSING_H_ */
image_processing.h
