sensor2D.hpp
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00001 /******************************************************************************
00002  * Copyright (c) 2014
00003  * VoXel Interaction Design GmbH
00004  *
00005  * @author Angel Merino Sastre
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, including without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  *
00025  ******************************************************************************/
00026 
00042 #ifndef __SENSOR2D_HPP__
00043 #define __SENSOR2D_HPP__
00044 
00045 
00046 #include <gst/gst.h>
00047 #include <string.h>
00048 #include <math.h>
00049 #include <stdio.h>
00050 #include <glib-object.h>
00051 #include <stdlib.h>
00052 #include <gst/app/gstappsink.h>
00053 
00054 #include <ros/ros.h>
00055 #include <image_transport/image_transport.h>
00056 #include <camera_info_manager/camera_info_manager.h>
00057 #include <sensor_msgs/Image.h>
00058 #include <sensor_msgs/CameraInfo.h>
00059 #include <sensor_msgs/SetCameraInfo.h>
00060 #include <sensor_msgs/image_encodings.h>
00061 #include <boost/thread/locks.hpp>
00062 //#include <opencv2/highgui/highgui.hpp>
00063 //#include <cv_bridge/cv_bridge.h>
00064 
00065 
00066 #include <ros/console.h>
00067 
00068 namespace bta_ros {
00069 
00070         class Sensor2D
00071         {
00072                 ros::NodeHandle nh_, nh_private_;
00073                 std::string nodeName_;
00074                 camera_info_manager::CameraInfoManager cim_rgb_;
00075                 image_transport::ImageTransport it_;
00076                 image_transport::CameraPublisher pub_rgb_;      
00077         
00078                 std::string address_;
00079         
00080                 GstElement *pipeline_;
00081                 GstElement *appsink;
00082                 GMainLoop *loop;
00083         
00084                 //boost::thread* streaming;
00085 
00086  public:
00087  
00088         Sensor2D(ros::NodeHandle nh_camera, 
00089                                         ros::NodeHandle nh_private, 
00090                                         std::string nodeName);
00091         virtual ~Sensor2D();
00092         
00093         void init();
00094         void stop();
00095         void getFrame();
00096 
00097         };
00098 }
00099 
00100 #endif


bta_ros
Author(s): Angel Merino , Simon Vogl
autogenerated on Thu Jun 2 2016 04:07:04