CameraHandler.h
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00001 
00002 
00003 #ifndef CAMERA_HANDLER_H
00004 #define CAMERA_HANDLER_H
00005 
00006 #include "vrep_ros_plugin/GenericObjectHandler.h"
00007 #include <image_transport/image_transport.h>
00008 #include <sensor_msgs/SetCameraInfo.h>
00009 
00010 
00011 class CameraHandler : public GenericObjectHandler
00012 {
00013 public:
00014         CameraHandler();
00015         ~CameraHandler();
00016 
00020         void synchronize();
00021 
00025         void handleSimulation();
00026 
00030         unsigned int getObjectType() const;
00031 
00032 
00033 protected:
00034 
00038         void _initialize();
00039 
00043         image_transport::ImageTransport _it;
00044 
00048         image_transport::CameraPublisher _pubIT;
00049 
00053         sensor_msgs::CameraInfo _camera_info;
00054 
00058         void computeCameraInfo();
00059 
00063         simFloat _lastPublishedImageTime;
00064 
00068         double _acquisitionFrequency;
00072         bool _cameraIsRGB;
00073 
00077         ros::ServiceServer _service;
00078 
00085     bool setCameraInfo(sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &res);
00086 };
00087 
00088 
00089 #endif // ndef CAMERA_HANDLER_H


camera_handler
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Wed Sep 9 2015 18:55:01