flir.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* author: Radu Bogdan Rusu <rusu@cs.tum.edu> */
00031 
00032 #ifndef UNICAP_DRIVER_H
00033 #define UNICAP_DRIVER_H
00034 
00035 #include "sensor_msgs/Image.h"
00036 
00037 #include <stdlib.h>
00038 #include <string.h>
00039 #include <stdexcept>
00040 #include <unicap/unicap.h>
00041 #include <unicap/unicap_status.h>
00042 #include <unicap/unicap_version.h>
00043 
00044 namespace unicap
00045 {
00047   // code borrowed from drivers/laser/hokuyo_driver/hokuyo.h
00048 #define DEF_EXCEPTION(name, parent) \
00049   class name  : public parent { \
00050   public: \
00051     name (const char* msg) : parent (msg) {} \
00052   }
00053   
00055   DEF_EXCEPTION(Exception, std::runtime_error);
00056 
00057   class FLIR
00058   {
00059     public:
00060       FLIR ();
00061       ~FLIR ();
00062 
00063       int open ();
00064       int close ();
00065       void readData (sensor_msgs::Image &image);
00066 
00067       int device_id_;
00068       unicap_device_t device_;
00069     private:
00070       int color_space_, video_format_;
00071 
00072       unicap_handle_t handle_;
00073       unicap_format_t format_spec_;
00074       unicap_format_t format_;
00075       unicap_data_buffer_t buffer_;
00076       unicap_data_buffer_t *returned_buffer_;
00077 
00078       bool debug_;
00079   };
00080 
00081 };
00082 
00083 #endif
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flir_driver
Author(s): Radu Bogdan Rusu (rusu@cs.tum.edu)
autogenerated on Thu May 23 2013 16:46:45