cv_camera::Capture Class Reference

captures by cv::VideoCapture and publishes to ROS topic. More...

#include <capture.h>

List of all members.

Public Member Functions
	Capture (ros::NodeHandle &node, const std::string &topic_name, int32_t buffer_size, const std::string &frame_id)
	costruct with ros node and topic settings
bool	capture ()
	capture an image and store.
const cv::Mat &	getCvImage () const
	accessor of cv::Mat
const sensor_msgs::ImagePtr	getImageMsgPtr () const
	accessor of ROS Image message.
const sensor_msgs::CameraInfo &	getInfo () const
	accessor of CameraInfo.
void	open (int32_t device_id)
	Open capture device with device ID.
void	open ()
	Open default camera device.
void	openFile (const std::string &file_path)
	open video file instead of capture device.
void	publish ()
	Publish the image that is already captured by capture().
bool	setHeight (int32_t height)
	try capture image height
bool	setWidth (int32_t width)
	try capture image width
Private Attributes
cv_bridge::CvImage	bridge_
	this stores last captured image.
int32_t	buffer_size_
	size of publisher buffer
cv::VideoCapture	cap_
	capture device.
std::string	frame_id_
	header.frame_id for publishing images.
sensor_msgs::CameraInfo	info_
	this stores last captured image info.
camera_info_manager::CameraInfoManager	info_manager_
	camera info manager
image_transport::ImageTransport	it_
	ROS image transport utility.
ros::NodeHandle	node_
	node handle for advertise.
image_transport::CameraPublisher	pub_
	image publisher created by image_transport::ImageTransport.
std::string	topic_name_
	name of topic without namespace (usually "image_raw").

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Detailed Description

captures by cv::VideoCapture and publishes to ROS topic.

Definition at line 23 of file capture.h.

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Constructor & Destructor Documentation

cv_camera::Capture::Capture	(	ros::NodeHandle &	node,
		const std::string &	topic_name,
		int32_t	buffer_size,
		const std::string &	frame_id
	)

costruct with ros node and topic settings

Parameters:

node	ROS node handle for advertise topic.
topic_name	name of topic to publish (this may be image_raw).
buffer_size	size of publisher buffer.
frame_id	frame_id of publishing messages.

Definition at line 9 of file capture.cpp.

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Member Function Documentation

bool cv_camera::Capture::capture

(

)

capture an image and store.

to publish the captured image, call publish();

Returns:

true if success to capture, false if not captured.

Definition at line 67 of file capture.cpp.

const cv::Mat& cv_camera::Capture::getCvImage

(

)

const [inline]

accessor of cv::Mat

you have to call capture() before call this.

Returns:

captured cv::Mat

Definition at line 94 of file capture.h.

const sensor_msgs::ImagePtr cv_camera::Capture::getImageMsgPtr

(

)

const [inline]

accessor of ROS Image message.

you have to call capture() before call this.

Returns:

message pointer.

Definition at line 106 of file capture.h.

const sensor_msgs::CameraInfo& cv_camera::Capture::getInfo

(

)

const [inline]

accessor of CameraInfo.

you have to call capture() before call this.

Returns:

CameraInfo

Definition at line 82 of file capture.h.

void cv_camera::Capture::open

(

int32_t

device_id

)

Open capture device with device ID.

Parameters:

device_id

id of camera device (number from 0)

Exceptions:

cv_camera::DeviceError

device open failed

Definition at line 22 of file capture.cpp.

void cv_camera::Capture::open

(

)

Open default camera device.

This opens with device 0.

Exceptions:

cv_camera::DeviceError

device open failed

Definition at line 42 of file capture.cpp.

void cv_camera::Capture::openFile

(

const std::string &

file_path

)

open video file instead of capture device.

Definition at line 47 of file capture.cpp.

void cv_camera::Capture::publish

(

)

Publish the image that is already captured by capture().

Definition at line 90 of file capture.cpp.

bool cv_camera::Capture::setHeight

(

int32_t

height

)

[inline]

try capture image height

Returns:

true if success

Definition at line 123 of file capture.h.

bool cv_camera::Capture::setWidth

(

int32_t

width

)

[inline]

try capture image width

Returns:

true if success

Definition at line 115 of file capture.h.

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Member Data Documentation

cv_bridge::CvImage cv_camera::Capture::bridge_ [private]

this stores last captured image.

Definition at line 166 of file capture.h.

int32_t cv_camera::Capture::buffer_size_ [private]

size of publisher buffer

Definition at line 151 of file capture.h.

cv::VideoCapture cv_camera::Capture::cap_ [private]

capture device.

Definition at line 161 of file capture.h.

std::string cv_camera::Capture::frame_id_ [private]

header.frame_id for publishing images.

Definition at line 147 of file capture.h.

sensor_msgs::CameraInfo cv_camera::Capture::info_ [private]

this stores last captured image info.

currently this has image size (width/height) only.

Definition at line 173 of file capture.h.

camera_info_manager::CameraInfoManager cv_camera::Capture::info_manager_ [private]

camera info manager

Definition at line 178 of file capture.h.

image_transport::ImageTransport cv_camera::Capture::it_ [private]

ROS image transport utility.

Definition at line 137 of file capture.h.

ros::NodeHandle cv_camera::Capture::node_ [private]

node handle for advertise.

Definition at line 132 of file capture.h.

image_transport::CameraPublisher cv_camera::Capture::pub_ [private]

image publisher created by image_transport::ImageTransport.

Definition at line 156 of file capture.h.

std::string cv_camera::Capture::topic_name_ [private]

name of topic without namespace (usually "image_raw").

Definition at line 142 of file capture.h.

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The documentation for this class was generated from the following files:

• capture.h
• capture.cpp