00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef IMAGE_PROC_PROCESSOR_H 00035 #define IMAGE_PROC_PROCESSOR_H 00036 00037 #include <opencv2/core/core.hpp> 00038 #include <image_geometry/pinhole_camera_model.h> 00039 #include <sensor_msgs/Image.h> 00040 00041 namespace image_proc { 00042 00043 struct ImageSet 00044 { 00045 std::string color_encoding; 00046 cv::Mat mono; 00047 cv::Mat rect; 00048 cv::Mat color; 00049 cv::Mat rect_color; 00050 }; 00051 00052 class Processor 00053 { 00054 public: 00055 Processor() 00056 : interpolation_(CV_INTER_LINEAR) 00057 { 00058 } 00059 00060 int interpolation_; 00061 00062 enum { 00063 MONO = 1 << 0, 00064 RECT = 1 << 1, 00065 COLOR = 1 << 2, 00066 RECT_COLOR = 1 << 3, 00067 ALL = MONO | RECT | COLOR | RECT_COLOR 00068 }; 00069 00070 bool process(const sensor_msgs::ImageConstPtr& raw_image, 00071 const image_geometry::PinholeCameraModel& model, 00072 ImageSet& output, int flags = ALL) const; 00073 }; 00074 00075 } //namespace image_proc 00076 00077 #endif