00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * Copyright (c) 2013, Intelligent Robotics Lab, DLUT. 00004 * All rights reserved. 00005 * Author:Zhao Cilang. 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Intelligent Robotics Lab nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 #include <stdio.h> 00034 #include <ros/ros.h> 00035 00036 #include "flycapture/FlyCapture2.h" 00037 #include <fstream> 00038 00039 using namespace FlyCapture2; 00040 00041 using namespace std; 00042 00043 class CameraCapture 00044 { 00045 public: 00046 CameraCapture (); 00047 ~CameraCapture (); 00048 public: 00049 void camImageCapture (int img_num); 00050 void camPrintBuildInfo (); 00051 void camPrintCameraInfo (CameraInfo * cam_info); 00052 void camPrintError (Error error); 00053 void camConnect (); 00054 void camStopCapture (); 00055 private: 00056 ros::NodeHandle nh_; 00057 00058 VideoMode m_videomode_; 00059 FrameRate m_framerate_; 00060 BusManager m_bus_mgr_; 00061 PGRGuid m_guid_; 00062 Camera m_cam_; 00063 00064 ofstream m_wfile_; 00065 };