00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_ 00038 #define JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/Image.h> 00042 #include <sensor_msgs/CameraInfo.h> 00043 00044 #include <message_filters/subscriber.h> 00045 #include <message_filters/synchronizer.h> 00046 #include <message_filters/sync_policies/approximate_time.h> 00047 #include <message_filters/pass_through.h> 00048 #include <dynamic_reconfigure/server.h> 00049 #include <jsk_perception/FisheyeConfig.h> 00050 00051 #include <opencv2/opencv.hpp> 00052 00053 namespace jsk_perception 00054 { 00055 class FisheyeToPanorama: public jsk_topic_tools::DiagnosticNodelet 00056 { 00057 public: 00058 typedef message_filters::sync_policies::ApproximateTime< 00059 sensor_msgs::Image, // image 00060 sensor_msgs::CameraInfo // camera info 00061 > SyncPolicy; 00062 typedef jsk_perception::FisheyeConfig Config; 00063 00064 FisheyeToPanorama(): DiagnosticNodelet("FisheyeToPanorama") {} 00065 protected: 00066 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00067 void configCallback(Config &new_config, uint32_t level); 00068 virtual void onInit(); 00069 virtual void subscribe(); 00070 virtual void unsubscribe(); 00071 inline double interpolate(double rate, double first, double second){return (1.0 - rate) * first + rate * second;}; 00072 virtual void rectify(const sensor_msgs::Image::ConstPtr& image_msg); 00073 00074 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00075 ros::Subscriber sub_image_; 00076 ros::Publisher pub_undistorted_image_; 00077 ros::Publisher pub_undistorted_bilinear_image_; 00078 bool use_panorama_; 00079 bool simple_panorama_; 00080 float max_degree_; 00081 float scale_; 00082 float upside_down_; 00083 double offset_degree_; 00084 private: 00085 00086 }; 00087 } 00088 00089 #endif