00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 #ifndef LASER_CB_DETECTOR_LASER_CB_DETECTOR_H_ 00038 #define LASER_CB_DETECTOR_LASER_CB_DETECTOR_H_ 00039 00040 #include <opencv/cv.h> 00041 #include <calibration_msgs/DenseLaserSnapshot.h> 00042 #include <laser_cb_detector/ConfigAction.h> 00043 #include <laser_cb_detector/cv_laser_bridge.h> 00044 #include <image_cb_detector/image_cb_detector.h> 00045 #include <calibration_msgs/CalibrationPattern.h> 00046 #include <sensor_msgs/Image.h> 00047 00048 namespace laser_cb_detector 00049 { 00050 00051 class LaserCbDetector 00052 { 00053 public: 00054 LaserCbDetector(); 00055 00056 bool configure(const ConfigGoal& config); 00057 00058 bool detect(const calibration_msgs::DenseLaserSnapshot& snapshot, 00059 calibration_msgs::CalibrationPattern& result); 00060 00061 bool getImage(const calibration_msgs::DenseLaserSnapshot& snapshot, sensor_msgs::Image& ros_image); 00062 00063 private: 00064 bool configured_; 00065 ConfigGoal config_; 00066 CvLaserBridge bridge_; 00067 image_cb_detector::ImageCbDetector detector_; 00068 }; 00069 00070 } 00071 00072 #endif