00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 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/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_LIBFREENECT2_DRIVER_H_ 00038 #define JSK_LIBFREENECT2_DRIVER_H_ 00039 00040 #include <ros/ros.h> 00041 #include <nodelet/nodelet.h> 00042 #include <libfreenect2/opengl.h> 00043 #include <opencv2/opencv.hpp> 00044 #include <libfreenect2/libfreenect2.hpp> 00045 #include <libfreenect2/frame_listener_impl.h> 00046 #include <libfreenect2/threading.h> 00047 #include <image_transport/image_transport.h> 00048 #include <camera_info_manager/camera_info_manager.h> 00049 #include <boost/thread.hpp> 00050 00051 namespace jsk_libfreenect2 00052 { 00053 class Driver: public nodelet::Nodelet 00054 { 00055 public: 00056 typedef boost::shared_ptr<camera_info_manager::CameraInfoManager> 00057 CameraInfoManagerPtr; 00058 protected: 00059 virtual void onInit(); 00060 virtual void run(const ros::TimerEvent&); 00061 ros::Timer timer_; 00062 libfreenect2::Freenect2* freenect2_; 00063 libfreenect2::Freenect2Device* dev_; 00064 libfreenect2::SyncMultiFrameListener* listener_; 00065 boost::mutex mutex_; 00066 sensor_msgs::CameraInfo::Ptr getRGBCameraInfo( 00067 libfreenect2::Frame* frame, ros::Time stamp, std::string frame_id); 00068 sensor_msgs::CameraInfo::Ptr getIRCameraInfo( 00069 libfreenect2::Frame* frame, ros::Time stamp, std::string frame_id); 00070 CameraInfoManagerPtr ir_caminfo_manager_, rgb_caminfo_manager_; 00071 libfreenect2::Freenect2Device::ColorCameraParams default_rgb_params_; 00072 libfreenect2::Freenect2Device::IrCameraParams default_ir_params_; 00073 private: 00074 00075 }; 00076 } 00077 00078 #endif