fisheye_to_panorama.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_
#define JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/FisheyeConfig.h>
 
#include <opencv2/opencv.hpp>
 
namespace jsk_perception
{
  class FisheyeToPanorama: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
      sensor_msgs::Image,         // image
      sensor_msgs::CameraInfo        // camera info
      > SyncPolicy;
    typedef jsk_perception::FisheyeConfig Config;
 
    FisheyeToPanorama(): DiagnosticNodelet("FisheyeToPanorama") {}
    virtual ~FisheyeToPanorama();
  protected:
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    void configCallback(Config &new_config, uint32_t level);
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    inline double interpolate(double rate, double first, double second){return (1.0 - rate) * first + rate * second;};
    virtual void rectify(const sensor_msgs::Image::ConstPtr& image_msg);
    
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    ros::Subscriber sub_image_;
    ros::Publisher pub_undistorted_image_;
    ros::Publisher pub_undistorted_bilinear_image_;
    bool use_panorama_;
    bool simple_panorama_;
    float max_degree_;
    float scale_;
    float upside_down_;
    double offset_degree_;
  private:
    
  };
}
 
#endif