capture.h

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// Copyright [2015] Takashi Ogura<t.ogura@gmail.com>

#ifndef CV_CAMERA_CAPTURE_H
#define CV_CAMERA_CAPTURE_H

#include "cv_camera/exception.h"
#include <string>

#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <camera_info_manager/camera_info_manager.h>

namespace cv_camera
{

class Capture
{
public:
  Capture(ros::NodeHandle &node,
          const std::string &topic_name,
          int32_t buffer_size,
          const std::string &frame_id,
          const std::string &camera_name);

  void open(int32_t device_id);

  void open(const std::string &device_path);

  void loadCameraInfo();

  void open();

  void openFile(const std::string &file_path);

  bool capture();

  void publish();

  inline const sensor_msgs::CameraInfo &getInfo() const
  {
    return info_;
  }

  inline const cv::Mat &getCvImage() const
  {
    return bridge_.image;
  }

  inline const sensor_msgs::ImagePtr getImageMsgPtr() const
  {
    return bridge_.toImageMsg();
  }

  inline bool setWidth(int32_t width)
  {
    return cap_.set(cv::CAP_PROP_FRAME_WIDTH, width);
  }

  inline bool setHeight(int32_t height)
  {
    return cap_.set(cv::CAP_PROP_FRAME_HEIGHT, height);
  }

  bool setPropertyFromParam(int property_id, const std::string &param_name);

private:
  void rescaleCameraInfo(int width, int height);

  ros::NodeHandle node_;

  image_transport::ImageTransport it_;

  std::string topic_name_;

  std::string frame_id_;
  int32_t buffer_size_;

  image_transport::CameraPublisher pub_;

  cv::VideoCapture cap_;

  cv_bridge::CvImage bridge_;

  sensor_msgs::CameraInfo info_;

  camera_info_manager::CameraInfoManager info_manager_;

  bool rescale_camera_info_;

  ros::Duration capture_delay_;
};

} // namespace cv_camera

#endif // CV_CAMERA_CAPTURE_H