CRLib.h
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00001 #include <ros/ros.h>
00002 #include <ros/names.h>
00003 
00004 #include <sensor_msgs/Image.h>
00005 #include <sensor_msgs/CameraInfo.h>
00006 #include <sensor_msgs/PointCloud.h>
00007 
00008 #include <tf/transform_listener.h>
00009 
00010 #include <opencv/cv.h>
00011 #include <cv_bridge/CvBridge.h>
00012 
00013 #include "cr_capture/PixelIndices.h"
00014 
00015 class CRLib {
00016 private:
00017   sensor_msgs::CameraInfo info_left_, info_right_;
00018   IplImage *ipl_left_, *ipl_right_;
00019 
00020 public:
00021   // parameters
00022   tf::StampedTransform cam_trans;
00023   bool clear_uncolored_points;
00024 
00025   CRLib ();
00026 
00027   void
00028   setLeftImg (const sensor_msgs::ImageConstPtr &img,
00029               const sensor_msgs::CameraInfoConstPtr &info);
00030 
00031   void
00032   setRightImg (const sensor_msgs::ImageConstPtr &img,
00033                const sensor_msgs::CameraInfoConstPtr &info);
00034 
00035   bool
00036   calcColor (sensor_msgs::PointCloud &pts, int srwidth, int srheight,
00037              cr_capture::PixelIndices *pidx = NULL);
00038 
00039 };
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cr_capture
Author(s): youhei kakiuchi, JSK
autogenerated on Sun Mar 24 2013 02:36:21