see description

- rosbag recording tested, not recording redundant data.
- cv_camera updated
- data logger node working.
- other small changes

cv_camera/.gitignore

@@ -0,0 +1,15 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+
+*~

cv_camera/CMakeLists.txt

@@ -0,0 +1,97 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cv_camera)
+
+find_package(catkin REQUIRED COMPONENTS
+  image_transport roscpp cv_bridge sensor_msgs nodelet camera_info_manager roslint)
+
+find_package(OpenCV REQUIRED)
+
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+roslint_cpp()
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES cv_camera
+  CATKIN_DEPENDS image_transport roscpp cv_bridge sensor_msgs nodelet camera_info_manager
+  DEPENDS OpenCV
+  )
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  )
+
+## Declare a cpp library
+add_library(cv_camera src/capture.cpp src/driver.cpp)
+add_library(cv_camera_nodelet src/cv_camera_nodelet.cpp)
+
+
+## Declare a cpp executable
+add_executable(cv_camera_node src/cv_camera_node.cpp)
+add_dependencies(cv_camera_node cv_camera)
+add_dependencies(cv_camera_nodelet cv_camera)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(cv_camera
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+  )
+
+target_link_libraries(cv_camera_nodelet
+  ${catkin_LIBRARIES}
+  cv_camera
+  )
+
+target_link_libraries(cv_camera_node
+  ${catkin_LIBRARIES}
+  cv_camera
+  )
+
+#############
+## Install ##
+#############
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS cv_camera cv_camera_nodelet cv_camera_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  )
+
+# add xml file
+install(FILES cv_camera_nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+
+#############
+## Testing ##
+#############
+
+roslint_cpp(
+  src/capture.cpp src/cv_camera_node.cpp src/cv_camera_nodelet.cpp src/driver.cpp
+  )
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test_cv_camera test/cv_camera.test
+    test/test_cv_camera.cpp)
+  target_link_libraries(test_cv_camera ${PROJECT_NAME} ${catkin_LIBRARIES})
+
+  add_rostest_gtest(test_cv_camera_no_yaml test/no_yaml.test
+    test/test_cv_camera_no_yaml.cpp)
+  target_link_libraries(test_cv_camera_no_yaml ${PROJECT_NAME} ${catkin_LIBRARIES})
+endif()

ros/src/sensors/cv_camera/README.md → cv_camera/README.md

@@ -26,7 +26,6 @@ If no calibration data is set, it has dummy values except for width and height.
 * ~image_height (int) try to set capture image height.
 * ~camera_info_url (string) url of camera info yaml.
 * ~file (string: default "") if not "" then use movie file instead of device.
-* ~rescale_camera_info (bool: default false) rescale camera calibration info automatically.
 
 supports CV_CAP_PROP_*, by below params.
 
@@ -65,14 +64,3 @@ Nodelet
 -------------------
 
 This node works as nodelet (cv_camera/CvCameraNodelet).
-
-Contributors
---------------------
-
-PR is welcome. I'll review your code to keep consistency, be patient.
-
-* Oleg Kalachev
-* Mikael Arguedas
-* Maurice Meedendorp
-* Max Schettler
-* Lukas Bulwahn

cv_camera/cv_camera_nodelets.xml

@@ -0,0 +1,10 @@
+<library path="lib/libcv_camera_nodelet">
+
+  <class name="cv_camera/CvCameraNodelet"
+	 type="cv_camera::CvCameraNodelet" base_class_type="nodelet::Nodelet">
+    <description>
+      OpenCV camera driver nodelet.
+    </description>
+  </class>
+
+</library>

cv_camera/include/cv_camera/capture.h

@@ -0,0 +1,210 @@
+// 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>
+
+/**
+ * @brief namespace of this package
+ */
+namespace cv_camera
+{
+
+/**
+ * @brief captures by cv::VideoCapture and publishes to ROS topic.
+ *
+ */
+class Capture
+{
+ public:
+  /**
+   * @brief costruct with ros node and topic settings
+   *
+   * @param node ROS node handle for advertise topic.
+   * @param topic_name name of topic to publish (this may be image_raw).
+   * @param buffer_size size of publisher buffer.
+   * @param frame_id frame_id of publishing messages.
+   */
+  Capture(ros::NodeHandle& node,
+          const std::string& topic_name,
+          int32_t buffer_size,
+          const std::string& frame_id);
+
+  /**
+   * @brief Open capture device with device ID.
+   *
+   * @param device_id id of camera device (number from 0)
+   * @throw cv_camera::DeviceError device open failed
+   *
+   */
+  void open(int32_t device_id);
+
+  /**
+   * @brief Open capture device with device name.
+   *
+   * @param device_path path of the camera device
+   * @throw cv_camera::DeviceError device open failed
+   */
+  void open(const std::string& device_path);
+
+  /**
+   * @brief Load camera info from file.
+   *
+   * This loads the camera info from the file specified in the camera_info_url parameter.
+   */
+  void loadCameraInfo();
+
+  /**
+   * @brief Open default camera device.
+   *
+   * This opens with device 0.
+   *
+   * @throw cv_camera::DeviceError device open failed
+   */
+  void open();
+
+  /**
+   * @brief open video file instead of capture device.
+   */
+  void openFile(const std::string& file_path);
+
+  /**
+   * @brief capture an image and store.
+   *
+   * to publish the captured image, call publish();
+   * @return true if success to capture, false if not captured.
+   */
+  bool capture();
+
+  /**
+   * @brief Publish the image that is already captured by capture().
+   *
+   */
+  void publish();
+
+  /**
+   * @brief accessor of CameraInfo.
+   *
+   * you have to call capture() before call this.
+   *
+   * @return CameraInfo
+   */
+  inline const sensor_msgs::CameraInfo& getInfo() const
+  {
+    return info_;
+  }
+
+  /**
+   * @brief accessor of cv::Mat
+   *
+   * you have to call capture() before call this.
+   *
+   * @return captured cv::Mat
+   */
+  inline const cv::Mat& getCvImage() const
+  {
+    return bridge_.image;
+  }
+
+  /**
+   * @brief accessor of ROS Image message.
+   *
+   * you have to call capture() before call this.
+   *
+   * @return message pointer.
+   */
+  inline const sensor_msgs::ImagePtr getImageMsgPtr() const
+  {
+    return bridge_.toImageMsg();
+  }
+
+  /**
+   * @brief try capture image width
+   * @return true if success
+   */
+  inline bool setWidth(int32_t width)
+  {
+    return cap_.set(CV_CAP_PROP_FRAME_WIDTH, width);
+  }
+
+  /**
+   * @brief try capture image height
+   * @return true if success
+   */
+  inline bool setHeight(int32_t height)
+  {
+    return cap_.set(CV_CAP_PROP_FRAME_HEIGHT, height);
+  }
+
+  /**
+   * @brief set CV_PROP_*
+   * @return true if success
+   */
+  bool setPropertyFromParam(int property_id, const std::string &param_name);
+
+ private:
+  /**
+   * @brief node handle for advertise.
+   */
+  ros::NodeHandle node_;
+
+  /**
+   * @brief ROS image transport utility.
+   */
+  image_transport::ImageTransport it_;
+
+  /**
+   * @brief name of topic without namespace (usually "image_raw").
+   */
+  std::string topic_name_;
+
+  /**
+   * @brief header.frame_id for publishing images.
+   */
+  std::string frame_id_;
+  /**
+   * @brief size of publisher buffer
+   */
+  int32_t buffer_size_;
+
+  /**
+   * @brief image publisher created by image_transport::ImageTransport.
+   */
+  image_transport::CameraPublisher pub_;
+
+  /**
+   * @brief capture device.
+   */
+  cv::VideoCapture cap_;
+
+  /**
+   * @brief this stores last captured image.
+   */
+  cv_bridge::CvImage bridge_;
+
+  /**
+   * @brief this stores last captured image info.
+   *
+   * currently this has image size (width/height) only.
+   */
+  sensor_msgs::CameraInfo info_;
+
+  /**
+   * @brief camera info manager
+   */
+  camera_info_manager::CameraInfoManager info_manager_;
+};
+
+}  // namespace cv_camera
+
+#endif  // CV_CAMERA_CAPTURE_H