CameraHandler.h
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00001 
00002 
00003 #ifndef CAMERA_HANDLER_H
00004 #define CAMERA_HANDLER_H
00005 
00006 #include "vrep_ros_plugin/GenericObjectHandler.h"
00007 #include <image_transport/image_transport.h>
00008 #include <sensor_msgs/SetCameraInfo.h>
00009 
00010 
00011 class CameraHandler : public GenericObjectHandler
00012 {
00013 public:
00014         CameraHandler();
00015         ~CameraHandler();
00016 
00020         void synchronize();
00021 
00025         void handleSimulation();
00026 
00030         unsigned int getObjectType() const;
00031 
00032 
00033         bool endOfSimulation();
00034 
00035 
00036 protected:
00037 
00041         void _initialize();
00042 
00046         image_transport::ImageTransport _it;
00047 
00051         image_transport::CameraPublisher _pubIT;
00052 
00056         image_transport::Publisher _pubDepth;
00057 
00061         sensor_msgs::CameraInfo _camera_info;
00062 
00066         void computeCameraInfo();
00067 
00071         simFloat _lastPublishedImageTime;
00072 
00076         double _acquisitionFrequency;
00080         bool _cameraIsRGB;
00081 
00085         bool _cameraHasDepth;
00086 
00090         bool _cameraIsFloat;
00091 
00095         ros::ServiceServer _service;
00096 
00103         bool setCameraInfo(sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &res);
00104 };
00105 
00106 
00107 #endif // ndef CAMERA_HANDLER_H


camera_handler
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Sat Jun 8 2019 20:22:46