00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Institute for Artificial Intelligence, 00005 * Universität Bremen. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Institute for Artificial Intelligence, 00019 * Universität Bremen, nor the names of its contributors may be 00020 * used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00040 #ifndef __C_IMAGECAPTURER_H__ 00041 #define __C_IMAGECAPTURER_H__ 00042 00043 00044 // System 00045 #include <string> 00046 #include <iostream> 00047 #include <fstream> 00048 #include <algorithm> 00049 00050 // ROS 00051 #include <ros/ros.h> 00052 #include <sensor_msgs/Image.h> 00053 #include <cv_bridge/cv_bridge.h> 00054 #include <sensor_msgs/image_encodings.h> 00055 00056 // OpenCV 00057 #include <cv.h> 00058 #include <highgui.h> 00059 00060 00061 namespace beliefstate { 00062 class CImageCapturer { 00063 private: 00064 ros::Subscriber m_subImage; 00065 bool m_bReceived; 00066 sensor_msgs::Image m_imgReceived; 00067 00068 bool fileExists(std::string strFileName); 00069 void freeFilename(std::string& strFileName, std::string strWorkingDirectory); 00070 00071 std::string m_strImagesTopic; 00072 ros::Publisher m_pubImages; 00073 00074 public: 00075 CImageCapturer(); 00076 ~CImageCapturer(); 00077 00078 bool captureFromTopic(std::string strTopicName, std::string &strFileName, std::string strWorkingDirectory, bool bUseFreeName = true); 00079 void imageCallback(const sensor_msgs::Image &imgData); 00080 00081 void publishImages(std::string strImagesTopic); 00082 }; 00083 } 00084 00085 00086 #endif /* __C_IMAGECAPTURER_H__ */