pmdcamera_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _pmdcamera_driver_h_
#define _pmdcamera_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_pmdcamera/PmdcameraConfig.h>

#include "pmd_camera.h"

class PmdcameraDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
  pmd_camera::PmdCamera PmdCC_;
  pmd_camera::cameraType cameraType_;
  int int_time_; 
  int mod_freq_; 

  public:
    typedef iri_pmdcamera::PmdcameraConfig Config;

    Config config_;

    PmdcameraDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all pmdcamera_driver interface methods to retrieve and set
    // the driver parameters

    ~PmdcameraDriver();    
    
//     void readData (sensor_msgs::PointCloud &cloud);
    
    void readData ();
    
    float *get3DImage(bool &is_dense);
    
    float *getFlagsImage();

    float *getIntensityImage();

    float *getAmplitudeImage();

    float *getRangeImage();

    float *getDepthImage();
    
    int getWidth();

    int getHeight();
    
    void setCameraType (pmd_camera::cameraType cameraType_);
    void setIntegrationTime (int int_time);
    void setModulationFrequency (int mod_freq); // end of group1

};

#endif