image_processing.h

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/****************************************************************************
 *
 * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Contact visp@irisa.fr if any conditions of this licensing are
 * not clear to you.
 *
 * Description:
 * 
 *
 * Authors:
 * Filip Novotny
 * 
 *
 *****************************************************************************/

#include "ros/ros.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/SetCameraInfo.h"
#include "visp/vpImage.h"
#include "visp/vpPoint.h"
#include "visp/vpCameraParameters.h"
#include <vector>
#include <string>
#include <boost/thread/thread.hpp>


#ifndef __visp_camera_calibration_IMAGE_PROCESSING_H__
#define __visp_camera_calibration_IMAGE_PROCESSING_H__
namespace visp_camera_calibration
{
class ImageProcessing
{
  ros::NodeHandle n_;
  ros::AsyncSpinner spinner_;

  unsigned long queue_size_;
  bool pause_image_;

  ros::Subscriber raw_image_subscriber_;
  ros::Publisher point_correspondence_publisher_;

  ros::ServiceServer set_camera_info_bis_service_;
  ros::ServiceClient calibrate_service_;

  vpImage<unsigned char> img_;

  std::vector<vpPoint> selected_points_;
  std::vector<vpPoint> model_points_;

  vpCameraParameters cam_;
  
  bool is_initialized;
  
  void init();
  void rawImageCallback(const sensor_msgs::Image::ConstPtr& image);

  bool setCameraInfoBisCallback(sensor_msgs::SetCameraInfo::Request  &req,
                             sensor_msgs::SetCameraInfo::Response &res);
public:
  typedef boost::function<void (const sensor_msgs::Image::ConstPtr& )>
    raw_image_subscriber_callback_t;

    typedef boost::function<bool (sensor_msgs::SetCameraInfo::Request&,sensor_msgs::SetCameraInfo::Response& res)>
      set_camera_info_bis_service_callback_t;

  ImageProcessing();
  void interface();

  virtual ~ImageProcessing();
};
}
#endif /* IMAGE_PROCESSING_H_ */