camera_info_manager.h
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37 
38 #ifndef _CAMERA_INFO_MANAGER_H_
39 #define _CAMERA_INFO_MANAGER_H_
40 
41 #include <ros/ros.h>
42 #include <boost/thread/mutex.hpp>
43 #include <sensor_msgs/CameraInfo.h>
44 #include <sensor_msgs/SetCameraInfo.h>
45 
46 #include <ros/macros.h>
47 
48 // Import/export for windows dll's and visibility for gcc shared libraries.
49 
50 #ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
51  #ifdef camera_info_manager_EXPORTS // we are building a shared lib/dll
52  #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_EXPORT
53  #else // we are using shared lib/dll
54  #define CAMERA_INFO_MANAGER_DECL ROS_HELPER_IMPORT
55  #endif
56 #else // ros is being built around static libraries
57  #define CAMERA_INFO_MANAGER_DECL
58 #endif
59 
68 {
69 
189 {
190  public:
191 
193  const std::string &cname="camera",
194  const std::string &url="");
195 
196  sensor_msgs::CameraInfo getCameraInfo(void);
197  bool isCalibrated(void);
198  bool loadCameraInfo(const std::string &url);
199  std::string resolveURL(const std::string &url,
200  const std::string &cname);
201  bool setCameraName(const std::string &cname);
202  bool setCameraInfo(const sensor_msgs::CameraInfo &camera_info);
203  bool validateURL(const std::string &url);
204 
205  private:
206 
207  // recognized URL types
208  typedef enum
209  {
210  // supported URLs
211  URL_empty = 0, // empty string
212  URL_file, // file:
213  URL_package, // package:
214  // URLs not supported
215  URL_invalid, // anything >= is invalid
216  URL_flash, // flash:
217  } url_type_t;
218 
219  // private methods
220  std::string getPackageFileName(const std::string &url);
221  bool loadCalibration(const std::string &url,
222  const std::string &cname);
223  bool loadCalibrationFile(const std::string &filename,
224  const std::string &cname);
225  url_type_t parseURL(const std::string &url);
226  bool saveCalibration(const sensor_msgs::CameraInfo &new_info,
227  const std::string &url,
228  const std::string &cname);
229  bool saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
230  const std::string &filename,
231  const std::string &cname);
232  bool setCameraInfoService(sensor_msgs::SetCameraInfo::Request &req,
233  sensor_msgs::SetCameraInfo::Response &rsp);
234 
243  boost::mutex mutex_;
244 
245  // private data
248  std::string camera_name_;
249  std::string url_;
250  sensor_msgs::CameraInfo cam_info_;
252 
253 }; // class CameraInfoManager
254 
255 }; // namespace camera_info_manager
256 
257 #endif // _CAMERA_INFO_MANAGER_H_
bool loaded_cam_info_
cam_info_ load attempted
std::string url_
URL for calibration data.
ros::ServiceServer info_service_
set_camera_info service
sensor_msgs::CameraInfo cam_info_
current CameraInfo
boost::mutex mutex_
mutual exclusion lock for private data
ros::NodeHandle nh_
node handle for service
#define CAMERA_INFO_MANAGER_DECL


camera_info_manager
Author(s): Jack O'Quin
autogenerated on Mon Feb 28 2022 22:31:54