apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CAMERAROS_H_
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#define CAMERAROS_H_
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#include <ros/ros.h>
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#include <ros/spinner.h>
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#include <cv_bridge/cv_bridge.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/Image.h>
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#include "find_object/Camera.h"
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#include <QtCore/QStringList>
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class CameraROS : public find_object::Camera {
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Q_OBJECT
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public:
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CameraROS(bool subscribeDepth, QObject * parent = 0);
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virtual ~CameraROS();
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virtual bool start();
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virtual void stop();
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QStringList subscribedTopics() const;
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private Q_SLOTS:
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virtual void takeImage();
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private:
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void imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg);
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void imgDepthReceivedCallback(
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const sensor_msgs::ImageConstPtr& rgbMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
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private:
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bool subscribeDepth_;
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image_transport::Subscriber imageSub_;
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image_transport::SubscriberFilter rgbSub_;
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image_transport::SubscriberFilter depthSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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};
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#endif /* CAMERAROS_H_ */
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