CameraROS.h
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00001 /*
00002 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef CAMERAROS_H_
00029 #define CAMERAROS_H_
00030 
00031 #include <ros/ros.h>
00032 #include <ros/spinner.h>
00033 #include <cv_bridge/cv_bridge.h>
00034 
00035 #include <message_filters/subscriber.h>
00036 #include <message_filters/synchronizer.h>
00037 #include <message_filters/sync_policies/approximate_time.h>
00038 
00039 #include <image_transport/image_transport.h>
00040 #include <image_transport/subscriber_filter.h>
00041 
00042 #include <sensor_msgs/CameraInfo.h>
00043 #include <sensor_msgs/Image.h>
00044 
00045 #include "find_object/Camera.h"
00046 #include <QtCore/QStringList>
00047 
00048 class CameraROS : public find_object::Camera {
00049         Q_OBJECT
00050 public:
00051         CameraROS(bool subscribeDepth, QObject * parent = 0);
00052         virtual ~CameraROS() {}
00053 
00054         virtual bool start();
00055         virtual void stop();
00056 
00057         QStringList subscribedTopics() const;
00058 
00059 Q_SIGNALS:
00060         void rosDataReceived(const std::string & frameId,
00061                         const ros::Time & stamp,
00062                         const cv::Mat & depth,
00063                         float depthConstant);
00064 
00065 private Q_SLOTS:
00066         virtual void takeImage();
00067 
00068 private:
00069         void imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg);
00070         void imgDepthReceivedCallback(
00071                         const sensor_msgs::ImageConstPtr& rgbMsg,
00072                         const sensor_msgs::ImageConstPtr& depthMsg,
00073                         const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
00074 
00075 private:
00076         bool subscribeDepth_;
00077         image_transport::Subscriber imageSub_;
00078 
00079         image_transport::SubscriberFilter rgbSub_;
00080         image_transport::SubscriberFilter depthSub_;
00081         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
00082 
00083         typedef message_filters::sync_policies::ApproximateTime<
00084                         sensor_msgs::Image,
00085                         sensor_msgs::Image,
00086                         sensor_msgs::CameraInfo> MySyncPolicy;
00087         message_filters::Synchronizer<MySyncPolicy> * sync_;
00088 };
00089 
00090 #endif /* CAMERAROS_H_ */


find_object_2d
Author(s): Mathieu Labbe
autogenerated on Fri Feb 12 2016 01:18:17