kinect_image_flip.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_perception_common
00012  * ROS package name: cob_image_flip
00013  *
00014  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00015  *
00016  * Author: Richard Bormann, email:richard.bormann@ipa.fhg.de
00017  * Supervised by: Richard Bormann, email:richard.bormann@ipa.fhg.de
00018  *
00019  * Date of creation: May 2011
00020  * ToDo:
00021  *
00022  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00023  *
00024  * Redistribution and use in source and binary forms, with or without
00025  * modification, are permitted provided that the following conditions are met:
00026  *
00027  *     * Redistributions of source code must retain the above copyright
00028  *       notice, this list of conditions and the following disclaimer.
00029  *     * Redistributions in binary form must reproduce the above copyright
00030  *       notice, this list of conditions and the following disclaimer in the
00031  *       documentation and/or other materials provided with the distribution.
00032  *     * Neither the name of the Fraunhofer Institute for Manufacturing
00033  *       Engineering and Automation (IPA) nor the names of its
00034  *       contributors may be used to endorse or promote products derived from
00035  *       this software without specific prior written permission.
00036  *
00037  * This program is free software: you can redistribute it and/or modify
00038  * it under the terms of the GNU Lesser General Public License LGPL as
00039  * published by the Free Software Foundation, either version 3 of the
00040  * License, or (at your option) any later version.
00041  *
00042  * This program is distributed in the hope that it will be useful,
00043  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00044  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00045  * GNU Lesser General Public License LGPL for more details.
00046  *
00047  * You should have received a copy of the GNU Lesser General Public
00048  * License LGPL along with this program.
00049  * If not, see <http://www.gnu.org/licenses/>.
00050  *
00051  ****************************************************************/
00052 
00053 //##################
00054 //#### includes ####
00055 
00056 // ROS includes
00057 #include <ros/ros.h>
00058 
00059 // ROS message includes
00060 #include <sensor_msgs/Image.h>
00061 #include <sensor_msgs/PointCloud2.h>
00062 #include <tf/transform_listener.h>
00063 
00064 // topics
00065 //#include <message_filters/subscriber.h>
00066 //#include <message_filters/synchronizer.h>
00067 //#include <message_filters/sync_policies/approximate_time.h>
00068 #include <image_transport/image_transport.h>
00069 #include <image_transport/subscriber_filter.h>
00070 
00071 // opencv
00072 #include <opencv/cv.h>
00073 #include <opencv/highgui.h>
00074 #include <cv_bridge/cv_bridge.h>
00075 #include <sensor_msgs/image_encodings.h>
00076 
00077 // point cloud
00078 #include <pcl/point_types.h>
00079 #include <pcl_ros/point_cloud.h>
00080 
00081 // timer
00082 #include <cob_image_flip/timer.h>
00083 
00084 // System
00085 #include <iostream>
00086 
00087 #include <cob_vision_utils/GlobalDefines.h>
00088 
00089 namespace cob_image_flip
00090 {
00091 class CobKinectImageFlip
00092 {
00093 protected:
00094         int cob3Number_;
00095         bool flip_color_image_;
00096         bool flip_pointcloud_;
00097         std::string pointcloud_data_format_;
00098         bool display_warnings_;
00099         bool display_timing_;
00100 
00101         unsigned int img_sub_counter_;
00102         unsigned int pc_sub_counter_;
00103 
00104         ros::Subscriber point_cloud_sub_;
00105         ros::Publisher point_cloud_pub_; 
00106         //message_filters::Subscriber<sensor_msgs::PointCloud2> point_cloud_sub_;       ///< Point cloud input topic
00107         image_transport::ImageTransport* it_;
00108         image_transport::SubscriberFilter color_camera_image_sub_;      
00109         image_transport::Publisher color_camera_image_pub_;             
00110         //message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::Image> >* sync_pointcloud_;      ///< synchronizer for input data
00111         //message_filters::Connection sync_pointcloud_callback_connection_;
00112 
00113         tf::TransformListener* transform_listener_;
00114 
00115         ros::NodeHandle node_handle_; 
00116 
00117 public:
00118 
00119         CobKinectImageFlip(ros::NodeHandle nh);
00120 
00121         ~CobKinectImageFlip();
00122 
00123         unsigned long init();
00124 
00125         unsigned long convertColorImageMessageToMat(const sensor_msgs::Image::ConstPtr& color_image_msg, cv_bridge::CvImageConstPtr& color_image_ptr, cv::Mat& color_image);
00126 
00127         template <typename T>
00128         void inputCallback(const sensor_msgs::PointCloud2::ConstPtr& point_cloud_msg);
00129 
00130         void imageCallback(const sensor_msgs::ImageConstPtr& color_image_msg);
00131 
00132         void imgConnectCB(const image_transport::SingleSubscriberPublisher& pub);
00133         
00134         void imgDisconnectCB(const image_transport::SingleSubscriberPublisher& pub);
00135 
00136         void pcConnectCB(const ros::SingleSubscriberPublisher& pub);
00137         
00138         void pcDisconnectCB(const ros::SingleSubscriberPublisher& pub);
00139 };
00140 
00141 }
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cob_image_flip
Author(s): Richard Bormann
autogenerated on Fri Mar 8 2013 15:03:53