camera_info_manager.h

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/* -*- mode: C++ -*- */
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#ifndef _CAMERA_INFO_MANAGER_H_
#define _CAMERA_INFO_MANAGER_H_

#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>

#include <ros/macros.h>

// Import/export for windows dll's and visibility for gcc shared libraries.

#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
  #ifdef camera_info_manager_EXPORTS // we are building a shared lib/dll
    #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_EXPORT
  #else // we are using shared lib/dll
    #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_IMPORT
  #endif
#else // ros is being built around static libraries
  #define CAMERA_INFO_MANAGER_DECL
#endif

namespace camera_info_manager
{

class CAMERA_INFO_MANAGER_DECL CameraInfoManager
{
 public:

  CameraInfoManager(ros::NodeHandle nh,
                    const std::string &cname="camera",
                    const std::string &url="");

  sensor_msgs::CameraInfo getCameraInfo(void);
  bool isCalibrated(void);
  bool loadCameraInfo(const std::string &url);
  std::string resolveURL(const std::string &url,
                         const std::string &cname);
  bool setCameraName(const std::string &cname);
  bool setCameraInfo(const sensor_msgs::CameraInfo &camera_info);
  bool validateURL(const std::string &url);

 private:

  // recognized URL types
  typedef enum
    {
      // supported URLs
      URL_empty = 0,             // empty string
      URL_file,                  // file:
      URL_package,               // package: 
      // URLs not supported
      URL_invalid,               // anything >= is invalid
      URL_flash,                 // flash: 
    } url_type_t;

  // private methods
  std::string getPackageFileName(const std::string &url);
  bool loadCalibration(const std::string &url,
                       const std::string &cname);
  bool loadCalibrationFile(const std::string &filename,
                           const std::string &cname);
  url_type_t parseURL(const std::string &url);
  bool saveCalibration(const sensor_msgs::CameraInfo &new_info,
                       const std::string &url,
                       const std::string &cname);
  bool saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
                           const std::string &filename,
                           const std::string &cname);
  bool setCameraInfoService(sensor_msgs::SetCameraInfo::Request &req,
                            sensor_msgs::SetCameraInfo::Response &rsp);

  boost::mutex mutex_;

  // private data
  ros::NodeHandle nh_;                  
  ros::ServiceServer info_service_;     
  std::string camera_name_;             
  std::string url_;                     
  sensor_msgs::CameraInfo cam_info_;    
  bool loaded_cam_info_;                

}; // class CameraInfoManager

}; // namespace camera_info_manager

#endif // _CAMERA_INFO_MANAGER_H_