image_proc.cpp
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34 
35 #include <ros/ros.h>
36 #include <nodelet/loader.h>
38 
39 int main(int argc, char **argv)
40 {
41  ros::init(argc, argv, "image_proc");
42 
43  // Check for common user errors
44  if (ros::names::remap("camera") != "camera")
45  {
46  ROS_WARN("Remapping 'camera' has no effect! Start image_proc in the "
47  "camera namespace instead.\nExample command-line usage:\n"
48  "\t$ ROS_NAMESPACE=%s rosrun image_proc image_proc",
49  ros::names::remap("camera").c_str());
50  }
51  if (ros::this_node::getNamespace() == "/")
52  {
53  ROS_WARN("Started in the global namespace! This is probably wrong. Start image_proc "
54  "in the camera namespace.\nExample command-line usage:\n"
55  "\t$ ROS_NAMESPACE=my_camera rosrun image_proc image_proc");
56  }
57 
58  // Shared parameters to be propagated to nodelet private namespaces
59  ros::NodeHandle private_nh("~");
60  XmlRpc::XmlRpcValue shared_params;
61  int queue_size;
62  if (private_nh.getParam("queue_size", queue_size))
63  shared_params["queue_size"] = queue_size;
64 
65  nodelet::Loader manager(false); // Don't bring up the manager ROS API
66  nodelet::M_string remappings;
67  nodelet::V_string my_argv;
68 
69  // Debayer nodelet, image_raw -> image_mono, image_color
70  std::string debayer_name = ros::this_node::getName() + "_debayer";
71  manager.load(debayer_name, "image_proc/debayer", remappings, my_argv);
72 
73  // Rectify nodelet, image_mono -> image_rect
74  std::string rectify_mono_name = ros::this_node::getName() + "_rectify_mono";
75  if (shared_params.valid())
76  ros::param::set(rectify_mono_name, shared_params);
77  manager.load(rectify_mono_name, "image_proc/rectify", remappings, my_argv);
78 
79  // Rectify nodelet, image_color -> image_rect_color
80  // NOTE: Explicitly resolve any global remappings here, so they don't get hidden.
81  remappings["image_mono"] = ros::names::resolve("image_color");
82  remappings["image_rect"] = ros::names::resolve("image_rect_color");
83  std::string rectify_color_name = ros::this_node::getName() + "_rectify_color";
84  if (shared_params.valid())
85  ros::param::set(rectify_color_name, shared_params);
86  manager.load(rectify_color_name, "image_proc/rectify", remappings, my_argv);
87 
88  // Check for only the original camera topics
89  ros::V_string topics;
90  topics.push_back(ros::names::resolve("image_raw"));
91  topics.push_back(ros::names::resolve("camera_info"));
93  check_inputs.start(topics, 60.0);
94 
95  ros::spin();
96  return 0;
97 }
bool load(const std::string &name, const std::string &type, const M_string &remappings, const V_string &my_argv)
void start(const ros::V_string &topics, double duration)
bool valid() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL const std::string & getName()
ROSCPP_DECL std::string resolve(const std::string &name, bool remap=true)
#define ROS_WARN(...)
ROSCPP_DECL void spin(Spinner &spinner)
ROSCPP_DECL void set(const std::string &key, const XmlRpc::XmlRpcValue &v)
std::vector< std::string > V_string
ROSCPP_DECL std::string remap(const std::string &name)
ROSCPP_DECL const std::string & getNamespace()
bool getParam(const std::string &key, std::string &s) const
int main(int argc, char **argv)
Definition: image_proc.cpp:39
std::vector< std::string > V_string
std::map< std::string, std::string > M_string


image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Thu Nov 7 2019 03:44:58