00001 /* 00002 * Copyright (C) 2015 Fetch Robotics Inc. 00003 * Copyright (C) 2013-2014 Unbounded Robotics Inc. 00004 * 00005 * Licensed under the Apache License, Version 2.0 (the "License"); 00006 * you may not use this file except in compliance with the License. 00007 * You may obtain a copy of the License at 00008 * 00009 * http://www.apache.org/licenses/LICENSE-2.0 00010 * 00011 * Unless required by applicable law or agreed to in writing, software 00012 * distributed under the License is distributed on an "AS IS" BASIS, 00013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00014 * See the License for the specific language governing permissions and 00015 * limitations under the License. 00016 */ 00017 00018 // Author: Michael Ferguson 00019 00020 #ifndef ROBOT_CALIBRATION_CAPTURE_CHECKERBOARD_FINDER_H 00021 #define ROBOT_CALIBRATION_CAPTURE_CHECKERBOARD_FINDER_H 00022 00023 #include <ros/ros.h> 00024 #include <robot_calibration/capture/depth_camera.h> 00025 #include <robot_calibration/capture/feature_finder.h> 00026 #include <robot_calibration_msgs/CalibrationData.h> 00027 00028 #include <opencv2/calib3d/calib3d.hpp> 00029 #include <cv_bridge/cv_bridge.h> 00030 00031 namespace robot_calibration 00032 { 00033 00037 class CheckerboardFinder : public FeatureFinder 00038 { 00039 public: 00040 CheckerboardFinder(ros::NodeHandle & n); 00041 00049 bool find(robot_calibration_msgs::CalibrationData * msg); 00050 00051 private: 00052 bool findInternal(robot_calibration_msgs::CalibrationData * msg); 00053 00054 void cameraCallback(const sensor_msgs::PointCloud2& cloud); 00055 bool waitForCloud(); 00056 00057 ros::Subscriber subscriber_; 00058 ros::Publisher publisher_; 00059 00060 bool waiting_; 00061 sensor_msgs::PointCloud2 cloud_; 00062 DepthCameraInfoManager depth_camera_manager_; 00063 00064 /* 00065 * ROS Parameters 00066 */ 00067 int points_x_; 00068 int points_y_; 00069 00070 double square_size_; 00071 00072 bool output_debug_; 00073 00074 std::string camera_sensor_name_; 00075 std::string chain_sensor_name_; 00076 }; 00077 00078 } // namespace robot_calibration 00079 00080 #endif // ROBOT_CALIBRATION_CAPTURE_CHECKERBOARD_FINDER_H