00001 00002 #ifndef VIRTUALCAMERANODELET_HPP_ 00003 #define VIRTUALCAMERANODELET_HPP_ 00004 00005 #define BOOST_DISABLE_ASSERTS 00006 00007 #include <ros/ros.h> 00008 #include <string> 00009 #include <vector> 00010 #include <list> 00011 #include <nodelet/nodelet.h> 00012 #include <image_transport/image_transport.h> 00013 #include <sensor_msgs/image_encodings.h> 00014 #include <sensor_msgs/CameraInfo.h> 00015 #include <opencv2/core/core.hpp> 00016 #include <opencv2/highgui/highgui.hpp> 00017 #include <cv_bridge/CvBridge.h> 00018 #include <cv_bridge/cv_bridge.h> 00019 #include <pluginlib/class_list_macros.h> 00020 #include <tf/transform_listener.h> 00021 #include <boost/lexical_cast.hpp> 00022 #include <boost/thread/mutex.hpp> 00023 #include "virtual_camera/VirtualCameraParameters.h" 00024 #include "virtual_camera/AddRealCamera.h" 00025 #include "VirtualCamera.hpp" 00026 #include "GeneralVirtualCamera.hpp" 00027 #include "RealCamera.hpp" 00028 #include "RealMonoCamera.hpp" 00029 #include "RealCameraSynchronizer.hpp" 00030 00031 namespace virtual_camera { 00032 00067 class VirtualCameraNodelet : public nodelet::Nodelet { 00068 private: 00069 ros::NodeHandle nh; 00070 boost::shared_ptr<image_transport::ImageTransport> it; 00071 std::string name; 00072 VirtualCameraPtr camera; 00073 ros::Publisher cameraInfoPublisher; 00074 ros::Timer timer; 00075 ros::Subscriber virtCamParamsSubscriber; 00076 ros::Subscriber addCameraSubscriber; 00077 std::vector<ros::Subscriber> realCamInfoSubs; 00078 RealCameraSynchronizerPtr synchronizer; 00079 MutexPtr imageSyncMutex; 00080 boost::shared_ptr<tf::TransformListener> transformListener; 00081 00086 std::list<RealCameraPtr> addWaitList; 00087 00093 VirtualCameraParametersPtr handleStartupParameters(); 00094 00100 void handleNewCameraParams(const VirtualCameraParametersPtr & params); 00101 00102 00106 void addRealCamerasFromParams(); 00107 00108 00113 void registerCamerasFromWaitList(); 00114 00115 00121 std::string getNameFromTopic(const std::string & topic); 00122 00123 00124 00125 public: 00130 void loop(const ros::TimerEvent& event); 00131 00132 00139 void newCameraCallback(AddRealCameraConstPtr cam); 00140 00141 00145 virtual void onInit(); 00146 00147 }; 00148 00149 00150 }//END OF NAMESPACE 00151 00152 PLUGINLIB_DECLARE_CLASS(virtual_camera, VirtualCameraNodelet, 00153 virtual_camera::VirtualCameraNodelet, nodelet::Nodelet); 00154 00155 #endif 00156 00157 00158
