disparity_publisher.h
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00001 /*
00002  * Copyright (c) 2017 Roboception GmbH
00003  * All rights reserved
00004  *
00005  * Author: Heiko Hirschmueller
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  * 1. Redistributions of source code must retain the above copyright notice,
00011  * this list of conditions and the following disclaimer.
00012  *
00013  * 2. Redistributions in binary form must reproduce the above copyright notice,
00014  * this list of conditions and the following disclaimer in the documentation
00015  * and/or other materials provided with the distribution.
00016  *
00017  * 3. Neither the name of the copyright holder nor the names of its contributors
00018  * may be used to endorse or promote products derived from this software without
00019  * specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #ifndef RC_DISPARITYPUBLISHER_H
00035 #define RC_DISPARITYPUBLISHER_H
00036 
00037 #include "genicam2ros_publisher.h"
00038 
00039 #include <ros/ros.h>
00040 #include <stereo_msgs/DisparityImage.h>
00041 
00042 namespace rc
00043 {
00044 
00045 class DisparityPublisher : public GenICam2RosPublisher
00046 {
00047   public:
00048 
00058     DisparityPublisher(ros::NodeHandle &nh, std::string frame_id_prefix, double f, double t, double scale);
00059 
00066     void setDisprange(int disprange);
00067 
00068     bool used() override;
00069 
00070     void publish(const rcg::Buffer *buffer, uint64_t pixelformat) override;
00071 
00072   private:
00073 
00074     DisparityPublisher(const DisparityPublisher &); // forbidden
00075     DisparityPublisher &operator=(const DisparityPublisher &); // forbidden
00076 
00077     uint32_t seq;
00078     double f;
00079     double t;
00080     float  scale;
00081     int    disprange;
00082 
00083     ros::Publisher pub;
00084 };
00085 
00086 }
00087 
00088 #endif


rc_visard_driver
Author(s): Heiko Hirschmueller , Christian Emmerich , Felix Ruess
autogenerated on Thu Jun 6 2019 20:43:02