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camera_info_manager: Adding public member function to manually set camera_info #20

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merged 1 commit into from
May 18, 2014
Merged

camera_info_manager: Adding public member function to manually set camera_info #20

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5 changes: 3 additions & 2 deletions camera_info_manager/include/camera_info_manager/camera_info_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,7 @@ class CameraInfoManager
std::string resolveURL(const std::string &url,
const std::string &cname);
bool setCameraName(const std::string &cname);
bool setCameraInfo(const sensor_msgs::CameraInfo &camera_info);
bool validateURL(const std::string &url);

private:
Expand Down Expand Up @@ -214,8 +215,8 @@ class CameraInfoManager
bool saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
const std::string &filename,
const std::string &cname);
bool setCameraInfo(sensor_msgs::SetCameraInfo::Request &req,
sensor_msgs::SetCameraInfo::Response &rsp);
bool setCameraInfoService(sensor_msgs::SetCameraInfo::Request &req,
sensor_msgs::SetCameraInfo::Response &rsp);

/** @brief mutual exclusion lock for private data
*
Expand Down
26 changes: 22 additions & 4 deletions camera_info_manager/src/camera_info_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ CameraInfoManager::CameraInfoManager(ros::NodeHandle nh,
{
// register callback for camera calibration service request
info_service_ = nh_.advertiseService("set_camera_info",
&CameraInfoManager::setCameraInfo, this);
&CameraInfoManager::setCameraInfoService, this);
}

/** Get the current CameraInfo data.
Expand All @@ -105,7 +105,7 @@ CameraInfoManager::CameraInfoManager(ros::NodeHandle nh,
*/
sensor_msgs::CameraInfo CameraInfoManager::getCameraInfo(void)
{
while (true)
while (ros::ok())
{
std::string cname;
std::string url;
Expand Down Expand Up @@ -553,8 +553,8 @@ CameraInfoManager::saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
* @return true if message handled
*/
bool
CameraInfoManager::setCameraInfo(sensor_msgs::SetCameraInfo::Request &req,
sensor_msgs::SetCameraInfo::Response &rsp)
CameraInfoManager::setCameraInfoService(sensor_msgs::SetCameraInfo::Request &req,
sensor_msgs::SetCameraInfo::Response &rsp)
{
// copies of class variables needed for saving calibration
std::string url_copy;
Expand Down Expand Up @@ -617,6 +617,24 @@ bool CameraInfoManager::setCameraName(const std::string &cname)
return true;
}

/** Set the camera info manually
*
* @param camera_info new camera calibration data
*
* @return true if new camera info is set
*
* @post @c cam_info_ updated, if valid;
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I guess technically there's no validity check here. We could make sure the parameters are all reasonable, could potentially catch errors.

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As an API, it at least gives us the option to add various checks if a good reason for them arises.

*/
bool CameraInfoManager::setCameraInfo(const sensor_msgs::CameraInfo &camera_info)
{
boost::mutex::scoped_lock lock(mutex_);

cam_info_ = camera_info;
loaded_cam_info_ = true;

return true;
}

/** Validate URL syntax.
*
* @param url Uniform Resource Locator to check
Expand Down