00001 /* 00002 * Copyright (c) 2017 Roboception GmbH 00003 * All rights reserved 00004 * 00005 * Author: Heiko Hirschmueller 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * 1. Redistributions of source code must retain the above copyright notice, 00011 * this list of conditions and the following disclaimer. 00012 * 00013 * 2. Redistributions in binary form must reproduce the above copyright notice, 00014 * this list of conditions and the following disclaimer in the documentation 00015 * and/or other materials provided with the distribution. 00016 * 00017 * 3. Neither the name of the copyright holder nor the names of its contributors 00018 * may be used to endorse or promote products derived from this software without 00019 * specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00023 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00024 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00025 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00026 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00027 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00028 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00029 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00030 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 #ifndef RC_DISPARITYPUBLISHER_H 00035 #define RC_DISPARITYPUBLISHER_H 00036 00037 #include "genicam2ros_publisher.h" 00038 00039 #include <ros/ros.h> 00040 #include <stereo_msgs/DisparityImage.h> 00041 00042 namespace rc 00043 { 00044 00045 class DisparityPublisher : public GenICam2RosPublisher 00046 { 00047 public: 00048 00058 DisparityPublisher(ros::NodeHandle &nh, std::string frame_id_prefix, double f, double t, double scale); 00059 00066 void setDisprange(int disprange); 00067 00068 bool used() override; 00069 00070 void publish(const rcg::Buffer *buffer, uint64_t pixelformat) override; 00071 00072 private: 00073 00074 DisparityPublisher(const DisparityPublisher &); // forbidden 00075 DisparityPublisher &operator=(const DisparityPublisher &); // forbidden 00076 00077 uint32_t seq; 00078 double f; 00079 double t; 00080 float scale; 00081 int disprange; 00082 00083 ros::Publisher pub; 00084 }; 00085 00086 } 00087 00088 #endif