00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _chessboard_pattern_projection_alg_node_h_ 00026 #define _chessboard_pattern_projection_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "chessboard_pattern_projection_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/Image.h> 00033 00034 // [service client headers] 00035 00036 // [action server client headers] 00037 00038 #include <image_transport/image_transport.h> 00039 #include <cv_bridge/cv_bridge.h> 00040 #include <sensor_msgs/image_encodings.h> 00041 // [opencv2] 00042 #include <opencv2/highgui/highgui.hpp> 00043 #include <opencv2/imgproc/imgproc.hpp> 00044 #include <opencv2/calib3d/calib3d.hpp> 00045 00050 class ChessboardPatternProjectionAlgNode : public algorithm_base::IriBaseAlgorithm<ChessboardPatternProjectionAlgorithm> 00051 { 00052 private: 00053 00054 00055 // [publisher attributes] 00056 image_transport::Publisher image_publisher_; 00057 sensor_msgs::Image Image_msg_; 00058 00059 // [subscriber attributes] 00060 boost::shared_ptr<image_transport::ImageTransport> it_; 00061 image_transport::CameraSubscriber image_subscriber_; 00062 void image_callback(const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg); 00063 00064 CMutex image_mutex_; 00065 00066 // [service attributes] 00067 00068 // [client attributes] 00069 00070 // [action server attributes] 00071 00072 // [action client attributes] 00073 00074 cv_bridge::CvImagePtr cv_ptr_; 00075 float sq_x_; 00076 float sq_y_; 00077 unsigned int num_intersec_x_; 00078 unsigned int num_intersec_y_; 00079 00080 public: 00087 ChessboardPatternProjectionAlgNode(void); 00088 00095 ~ChessboardPatternProjectionAlgNode(void); 00096 00097 protected: 00110 void mainNodeThread(void); 00111 00124 void node_config_update(Config &config, uint32_t level); 00125 00132 void addNodeDiagnostics(void); 00133 00134 // [diagnostic functions] 00135 00136 // [test functions] 00137 }; 00138 00139 #endif