ros_camera_observer.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROS_CAMERA_OBSERVER_H_
#define ROS_CAMERA_OBSERVER_H_

#include <industrial_extrinsic_cal/camera_observer.hpp>
#include <industrial_extrinsic_cal/basic_types.h>

#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <geometry_msgs/PointStamped.h>

namespace pattern_options
{
enum pattern_options_
{
  Chessboard = 0, CircleGrid = 1, ARtag = 2
};
}
typedef pattern_options::pattern_options_ PatternOption;

namespace industrial_extrinsic_cal
{

class ROSCameraObserver : public CameraObserver
{
public:

  ROSCameraObserver(const std::string &image_topic);

  ~ROSCameraObserver()
  {
  }
  ;

  bool addTarget(boost::shared_ptr<Target> targ, Roi &roi);

  void clearTargets();

  void clearObservations();

  int getObservations(CameraObservations &camera_observations);

  void triggerCamera();

  bool observationsDone();

private:

  PatternOption pattern_;
  std::string image_topic_;
  cv::Mat image_roi_;
  cv::Rect input_roi_;
  int pattern_rows_;
  int pattern_cols_;
  bool sym_circle_;
  std::vector<cv::Point2f> observation_pts_;
  boost::shared_ptr<Target> instance_target_;
  CameraObservations camera_obs_;

  //ROS specific params
  ros::NodeHandle nh_;
  ros::Subscriber image_sub_;
  ros::Publisher results_pub_;

  // Structures for interacting with ROS/CV messages
  cv_bridge::CvImagePtr input_bridge_;
  cv_bridge::CvImagePtr output_bridge_;
  cv_bridge::CvImagePtr out_bridge_;

};

} //end industrial_extrinsic_cal namespace

#endif /* ROS_CAMERA_OBSERVER_H_ */