capture.h

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// Copyright [2015] Takashi Ogura<t.ogura@gmail.com>
 
#ifndef CV_CAMERA_CAPTURE_H
#define CV_CAMERA_CAPTURE_H
 
#include "cv_camera/exception.h"
#include <string>
 
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <camera_info_manager/camera_info_manager.h>
 
namespace cv_camera
{
 
class Capture
{
public:
  Capture(ros::NodeHandle &node,
          const std::string &topic_name,
          int32_t buffer_size,
          const std::string &frame_id,
          const std::string &camera_name);
 
  void open(int32_t device_id);
 
  void open(const std::string &device_path);
 
  void loadCameraInfo();
 
  void open();
 
  void openFile(const std::string &file_path);
 
  bool capture();
 
  void publish();
 
  inline const sensor_msgs::CameraInfo &getInfo() const
  {
    return info_;
  }
 
  inline const cv::Mat &getCvImage() const
  {
    return bridge_.image;
  }
 
  inline const sensor_msgs::ImagePtr getImageMsgPtr() const
  {
    return bridge_.toImageMsg();
  }
 
  inline bool setWidth(int32_t width)
  {
    return cap_.set(cv::CAP_PROP_FRAME_WIDTH, width);
  }
 
  inline bool setHeight(int32_t height)
  {
    return cap_.set(cv::CAP_PROP_FRAME_HEIGHT, height);
  }
 
  bool setPropertyFromParam(int property_id, const std::string &param_name);
 
private:
  void rescaleCameraInfo(int width, int height);
 
  ros::NodeHandle node_;
 
  image_transport::ImageTransport it_;
 
  std::string topic_name_;
 
  std::string frame_id_;
  int32_t buffer_size_;
 
  image_transport::CameraPublisher pub_;
 
  cv::VideoCapture cap_;
 
  cv_bridge::CvImage bridge_;
 
  sensor_msgs::CameraInfo info_;
 
  camera_info_manager::CameraInfoManager info_manager_;
 
  bool rescale_camera_info_;
 
  ros::Duration capture_delay_;
};
 
} // namespace cv_camera
 
#endif // CV_CAMERA_CAPTURE_H