kinect_image_flip_nodelet.cpp
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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 #include <nodelet/nodelet.h>
00059 
00060 // ROS message includes
00061 #include <sensor_msgs/Image.h>
00062 #include <sensor_msgs/PointCloud2.h>
00063 #include <tf/transform_listener.h>
00064 
00065 // topics
00066 //#include <message_filters/subscriber.h>
00067 //#include <message_filters/synchronizer.h>
00068 //#include <message_filters/sync_policies/approximate_time.h>
00069 #include <image_transport/image_transport.h>
00070 #include <image_transport/subscriber_filter.h>
00071 
00072 // opencv
00073 #include <opencv/cv.h>
00074 #include <opencv/highgui.h>
00075 #include <cv_bridge/cv_bridge.h>
00076 #include <sensor_msgs/image_encodings.h>
00077 
00078 // point cloud
00079 #include <pcl/point_types.h>
00080 #include <pcl_ros/point_cloud.h>
00081 
00082 // timer
00083 #include <cob_image_flip/timer.h>
00084 
00085 // image flip code
00086 #include <cob_image_flip/kinect_image_flip.h>
00087 
00088 // System
00089 #include <iostream>
00090 
00091 #include <cob_vision_utils/GlobalDefines.h>
00092 
00093 
00094 // this should really be in the implementation (.cpp file)
00095 #include <pluginlib/class_list_macros.h>
00096 
00097 namespace cob_image_flip
00098 {
00099 class CobKinectImageFlipNodelet : public nodelet::Nodelet
00100 {
00101 protected:
00102         ros::NodeHandle node_handle_;
00103         CobKinectImageFlip* cob_kinect_image_flip_;
00104 
00105 public:
00106 
00107         CobKinectImageFlipNodelet()
00108         {
00109                 cob_kinect_image_flip_ = 0;
00110         };
00111 
00112         ~CobKinectImageFlipNodelet()
00113         {
00114                 if (cob_kinect_image_flip_ != 0)
00115                         delete cob_kinect_image_flip_;
00116         };
00117 
00118         virtual void onInit()
00119         {
00120                 // Create a handle for this node, initialize node
00121                 node_handle_ = getPrivateNodeHandle();
00122 
00123                 // Create CobKinectImageFlip class instance
00124                 cob_kinect_image_flip_ = new CobKinectImageFlip(node_handle_);
00125         }
00126 };
00127 }
00128 
00129 // watch the capitalization carefully
00130 PLUGINLIB_DECLARE_CLASS(cob_image_flip, CobKinectImageFlipNodelet, cob_image_flip::CobKinectImageFlipNodelet, nodelet::Nodelet)
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cob_image_flip
Author(s): Richard Bormann
autogenerated on Fri Mar 8 2013 15:03:53