00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include "camera_calibration_parsers/parse.h" 00036 #include "camera_calibration_parsers/parse_ini.h" 00037 #include "camera_calibration_parsers/parse_yml.h" 00038 00039 #include <boost/algorithm/string/predicate.hpp> 00040 00041 namespace camera_calibration_parsers { 00042 00043 bool writeCalibration(const std::string& file_name, const std::string& camera_name, 00044 const sensor_msgs::CameraInfo& cam_info) 00045 { 00046 if (boost::iends_with(file_name, ".ini")) 00047 return writeCalibrationIni(file_name, camera_name, cam_info); 00048 if (boost::iends_with(file_name, ".yml") || boost::iends_with(file_name, ".yaml")) 00049 return writeCalibrationYml(file_name, camera_name, cam_info); 00050 00051 return false; 00052 } 00053 00054 bool readCalibration(const std::string& file_name, std::string& camera_name, 00055 sensor_msgs::CameraInfo& cam_info) 00056 { 00057 if (boost::iends_with(file_name, ".ini")) 00058 return readCalibrationIni(file_name, camera_name, cam_info); 00059 if (boost::iends_with(file_name, ".yml") || boost::iends_with(file_name, ".yaml")) 00060 return readCalibrationYml(file_name, camera_name, cam_info); 00061 00062 return false; 00063 } 00064 00065 bool parseCalibration(const std::string& buffer, const std::string& format, 00066 std::string& camera_name, sensor_msgs::CameraInfo& cam_info) 00067 { 00068 if (format != "ini") 00069 return false; 00070 00071 return parseCalibrationIni(buffer, camera_name, cam_info); 00072 } 00073 00074 } //namespace camera_calibration_parsers