00001 // -*- mode: C++ -*- 00002 00003 #ifndef LOG_POLAR_NODELET_H_ 00004 #define LOG_POLAR_NODELET_H_ 00005 00006 #include "resized_image_transport/image_processing_nodelet.h" 00007 #include "resized_image_transport/LogPolarConfig.h" 00008 00009 namespace resized_image_transport 00010 { 00011 class LogPolar : public resized_image_transport::ImageProcessing 00012 { 00013 public: 00014 protected: 00015 typedef dynamic_reconfigure::Server<LogPolarConfig> ReconfigureServer; 00016 boost::shared_ptr<ReconfigureServer> reconfigure_server_; 00017 00018 bool inverse_log_polar_; 00019 double log_polar_scale_; 00020 00021 protected: 00022 void onInit(); 00023 void initReconfigure(); 00024 void initParams(); 00025 void config_cb (LogPolarConfig &config, uint32_t level); 00026 void process(const sensor_msgs::ImageConstPtr &src_img, const sensor_msgs::CameraInfoConstPtr &src_info, 00027 sensor_msgs::ImagePtr &dst_img, sensor_msgs::CameraInfo &dst_info); 00028 }; 00029 } 00030 #endif