qrcode_detection.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_QRCODE_DETECTION_H
00030 #define HECTOR_QRCODE_DETECTION_H
00031 
00032 #include <ros/ros.h>
00033 #include <image_transport/image_transport.h>
00034 #include <tf/transform_listener.h>
00035 
00036 namespace zbar {
00037   class ImageScanner;
00038 }
00039 
00040 namespace hector_qrcode_detection {
00041 
00042 class qrcode_detection_impl {
00043 public:
00044   qrcode_detection_impl(ros::NodeHandle nh, ros::NodeHandle priv_nh);
00045   ~qrcode_detection_impl();
00046 
00047 protected:
00048   void imageCallback(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::CameraInfoConstPtr& camera_info);
00049 
00050 private:
00051   ros::NodeHandle nh_;
00052   image_transport::ImageTransport image_transport_;
00053   image_transport::CameraSubscriber camera_subscriber_;
00054   image_transport::CameraPublisher rotated_image_publisher_;
00055   image_transport::CameraPublisher qrcode_image_publisher_;
00056 
00057   ros::Publisher percept_publisher_;
00058 
00059   zbar::ImageScanner *scanner_;
00060 
00061   tf::TransformListener *listener_;
00062   std::string rotation_source_frame_id_;
00063   std::string rotation_target_frame_id_;
00064   int rotation_image_size_;
00065 };
00066 
00067 } // namespace hector_qrcode_detection
00068 
00069 #endif // HECTOR_QRCODE_DETECTION_H


hector_qrcode_detection
Author(s): Johannes Meyer
autogenerated on Wed Sep 16 2015 10:20:10