fisheye_to_panorama.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_
00038 #define JSK_PERCEPTION_FISHEYE_TO_PANORAMA_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/Image.h>
00042 #include <sensor_msgs/CameraInfo.h>
00043 
00044 #include <message_filters/subscriber.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <message_filters/sync_policies/approximate_time.h>
00047 #include <message_filters/pass_through.h>
00048 #include <dynamic_reconfigure/server.h>
00049 #include <jsk_perception/FisheyeConfig.h>
00050 
00051 #include <opencv2/opencv.hpp>
00052 
00053 namespace jsk_perception
00054 {
00055   class FisheyeToPanorama: public jsk_topic_tools::DiagnosticNodelet
00056   {
00057   public:
00058     typedef message_filters::sync_policies::ApproximateTime<
00059       sensor_msgs::Image,         // image
00060       sensor_msgs::CameraInfo        // camera info
00061       > SyncPolicy;
00062     typedef jsk_perception::FisheyeConfig Config;
00063 
00064     FisheyeToPanorama(): DiagnosticNodelet("FisheyeToPanorama") {}
00065   protected:
00066     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00067     void configCallback(Config &new_config, uint32_t level);
00068     virtual void onInit();
00069     virtual void subscribe();
00070     virtual void unsubscribe();
00071     inline double interpolate(double rate, double first, double second){return (1.0 - rate) * first + rate * second;};
00072     virtual void rectify(const sensor_msgs::Image::ConstPtr& image_msg);
00073     
00074     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00075     ros::Subscriber sub_image_;
00076     ros::Publisher pub_undistorted_image_;
00077     ros::Publisher pub_undistorted_bilinear_image_;
00078     bool use_panorama_;
00079     bool simple_panorama_;
00080     float max_degree_;
00081     float scale_;
00082     float upside_down_;
00083     double offset_degree_;
00084   private:
00085     
00086   };
00087 }
00088 
00089 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15