tutorial-ros-grabber.cpp
#include <visp/vpDisplayX.h>
#include <visp/vpImage.h>
int main(int argc, const char** argv)
{
try {
bool opt_use_camera_info = false;
for (int i=0; i<argc; i++) {
if (std::string(argv[i]) == "--use-camera-info")
opt_use_camera_info = true;
else if (std::string(argv[i]) == "--help") {
std::cout << "Usage: " << argv[0]
<< " [--use-camera-info] [--help]"
<< std::endl;
return 0;
}
}
std::cout << "Use camera info: " << ((opt_use_camera_info == true) ? "yes" : "no") << std::endl;
//vpImage<unsigned char> I; // Create a gray level image container
vpImage<vpRGBa> I; // Create a color image container
vpROSGrabber g; // Create a grabber based on ROS
g.setImageTopic("/camera/image_raw");
if (opt_use_camera_info) {
g.setCameraInfoTopic("/camera/camera_info");
g.setRectify(true);
}
g.open(I);
std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
while(1) {
g.acquire(I);
vpDisplay::display(I);
vpDisplay::displayText(I, 20, 20, "A click to quit...", vpColor::red);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
}
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}


visp_ros
Author(s): Francois Pasteau, Fabien Spindler, Gatien Gaumerais
autogenerated on Fri Jul 3 2020 03:41:43