calibrator.h
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00001 /****************************************************************************
00002  *
00003  * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
00004  *
00005  * This file is part of the ViSP software.
00006  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
00007  * 
00008  * This software is free software; you can redistribute it and/or
00009  * modify it under the terms of the GNU General Public License
00010  * ("GPL") version 2 as published by the Free Software Foundation.
00011  * See the file LICENSE.txt at the root directory of this source
00012  * distribution for additional information about the GNU GPL.
00013  *
00014  * For using ViSP with software that can not be combined with the GNU
00015  * GPL, please contact INRIA about acquiring a ViSP Professional 
00016  * Edition License.
00017  *
00018  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
00019  * 
00020  * This software was developed at:
00021  * INRIA Rennes - Bretagne Atlantique
00022  * Campus Universitaire de Beaulieu
00023  * 35042 Rennes Cedex
00024  * France
00025  * http://www.irisa.fr/lagadic
00026  *
00027  * If you have questions regarding the use of this file, please contact
00028  * INRIA at visp@inria.fr
00029  * 
00030  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
00031  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
00032  *
00033  * Contact visp@irisa.fr if any conditions of this licensing are
00034  * not clear to you.
00035  *
00036  * Description:
00037  * 
00038  *
00039  * Authors:
00040  * Filip Novotny
00041  * 
00042  *
00043  *****************************************************************************/
00044 
00050 #include "ros/ros.h"
00051 
00052 #include "visp_camera_calibration/CalibPointArray.h"
00053 #include <visp/vpPoint.h>
00054 #include <visp/vpCalibration.h>
00055 #include "visp_camera_calibration/calibrate.h"
00056 #include <vector>
00057 
00058 #ifndef __visp_camera_calibration_CALIBRATOR_H__
00059 #define __visp_camera_calibration_CALIBRATOR_H__
00060 namespace visp_camera_calibration
00061 {
00062   class Calibrator
00063   {
00064   private:
00065     ros::NodeHandle             n_;
00066 
00067     unsigned long               queue_size_;
00068 
00069     ros::Subscriber             point_correspondence_subscriber_;
00070     ros::ServiceClient          set_camera_info_service_;
00071     ros::ServiceClient          set_camera_info_bis_service_;
00072     ros::ServiceServer          calibrate_service_;
00073 
00074     std::vector<vpPoint>        selected_points_;
00075     std::vector<vpPoint>        model_points_;
00076     std::vector<vpCalibration>  calibrations_;
00083     void pointCorrespondenceCallback(const visp_camera_calibration::CalibPointArray::ConstPtr& point_correspondence);
00088     bool calibrateCallback(visp_camera_calibration::calibrate::Request  &req,
00089                            visp_camera_calibration::calibrate::Response &res);
00090   public:
00092     typedef boost::function<void (const visp_camera_calibration::CalibPointArray::ConstPtr& )>
00093       point_correspondence_subscriber_callback_t;
00094 
00096     typedef boost::function<bool (visp_camera_calibration::calibrate::Request&,visp_camera_calibration::calibrate::Response& res)>
00097       calibrate_service_callback_t;
00098     Calibrator();
00099     void spin();
00100     virtual ~Calibrator();
00101   };
00102 }
00103 #endif /* CALIBRATOR_H_ */


visp_camera_calibration
Author(s): Filip Novotny
autogenerated on Mon Oct 6 2014 08:40:26