camera_info_manager.h

Go to the documentation of this file.

/* -*- mode: C++ -*- */
/* $Id$ */
 
/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010-2012 Jack O'Quin
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the author nor other contributors may be
*     used to endorse or promote products derived from this software
*     without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
#ifndef _CAMERA_INFO_MANAGER_H_
#define _CAMERA_INFO_MANAGER_H_
 
#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>
 
#include <ros/macros.h>
 
// Import/export for windows dll's and visibility for gcc shared libraries.
 
#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
  #ifdef camera_info_manager_EXPORTS // we are building a shared lib/dll
    #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_EXPORT
  #else // we are using shared lib/dll
    #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_IMPORT
  #endif
#else // ros is being built around static libraries
  #define CAMERA_INFO_MANAGER_DECL
#endif
 
namespace camera_info_manager
{
 
class CAMERA_INFO_MANAGER_DECL CameraInfoManager
{
 public:
 
  CameraInfoManager(ros::NodeHandle nh,
                    const std::string &cname="camera",
                    const std::string &url="");
  virtual ~CameraInfoManager();
  
  virtual sensor_msgs::CameraInfo getCameraInfo(void);
  virtual bool isCalibrated(void);
  virtual bool loadCameraInfo(const std::string &url);
  virtual std::string resolveURL(const std::string &url,
                                 const std::string &cname);
  virtual bool setCameraName(const std::string &cname);
  virtual bool setCameraInfo(const sensor_msgs::CameraInfo &camera_info);
  virtual bool validateURL(const std::string &url);
 
 private:
 
  // recognized URL types
  typedef enum
    {
      // supported URLs
      URL_empty = 0,             // empty string
      URL_file,                  // file:
      URL_package,               // package: 
      // URLs not supported
      URL_invalid,               // anything >= is invalid
      URL_flash,                 // flash: 
    } url_type_t;
 
  // private methods
  std::string getPackageFileName(const std::string &url);
  virtual bool loadCalibration(const std::string &url,
                               const std::string &cname);
  virtual bool loadCalibrationFile(const std::string &filename,
                                   const std::string &cname);
  virtual bool loadCalibrationFlash(const std::string &flashURL,
                                    const std::string &cname);  
  url_type_t parseURL(const std::string &url);
  virtual bool saveCalibration(const sensor_msgs::CameraInfo &new_info,
                               const std::string &url,
                               const std::string &cname);
  virtual bool saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
                                   const std::string &filename,
                                   const std::string &cname);
  virtual bool saveCalibrationFlash(const sensor_msgs::CameraInfo &new_info,
                                    const std::string &flashURL,
                                    const std::string &cname);  
  virtual bool setCameraInfoService(sensor_msgs::SetCameraInfo::Request &req,
                                    sensor_msgs::SetCameraInfo::Response &rsp);
 
  boost::mutex mutex_;
 
  // private data
  ros::NodeHandle nh_;                  
  ros::ServiceServer info_service_;     
  std::string camera_name_;             
  std::string url_;                     
  sensor_msgs::CameraInfo cam_info_;    
  bool loaded_cam_info_;                
 
}; // class CameraInfoManager
 
} // namespace camera_info_manager
 
#endif // _CAMERA_INFO_MANAGER_H_