image_reader_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _image_reader_alg_node_h_
#define _image_reader_alg_node_h_

//IRI external library


#include <iri_base_algorithm/iri_base_algorithm.h>
#include "image_reader_alg.h"

// [publisher subscriber headers]
#include <geometry_msgs/PoseArray.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
//#include <iostream>
#include <fstream>

//other ros stuff
#include <tf/tfMessage.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <image_geometry/pinhole_camera_model.h>


// [service client headers]

// [action server client headers]

class ImageReaderAlgNode : public algorithm_base::IriBaseAlgorithm<ImageReaderAlgorithm>
{
  private:

    // [publisher attributes]
    ros::Publisher goal_publisher_;
    geometry_msgs::PoseArray PoseArray_msg_;
//     ros::Publisher camera_info_publisher_;
    sensor_msgs::CameraInfo CameraInfo_msg_;
        
        image_transport::ImageTransport it_;
//      image_transport::Publisher image_pub_;
    image_transport::CameraPublisher image_pub_;

    //cv_bridge::CvImagePtr cv_ptr;
        cv_bridge::CvImage img_msg_;

    ros::Publisher scan_publisher_;
    sensor_msgs::LaserScan LaserScan_msg_;

    ros::Publisher scan_proc_publisher_;
    sensor_msgs::LaserScan LaserScan_proc_msg_;

        std_msgs::Header header_;
        unsigned int iit_database;
  std::string path;
  int list_pointer;

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]


  void update_msgs();
  void init_sensor_info();
  image_geometry::PinholeCameraModel cam_model_;
  tf::TransformListener tf_listener_;
  std::vector<std::vector<cv::Rect> > box_detections;

  public:
    ImageReaderAlgNode(void);

    ~ImageReaderAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif