[Personalrobots-commit] SF.net SVN: personalrobots: [463] pkg/trunk/drivers/cam/cv_cam

[<mor...@us...>]

Revision: 463
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=463&view=rev
Author:   morgan_quigley
Date:     2008-05-18 17:41:43 -0700 (Sun, 18 May 2008)

Log Message:
-----------
cv_cam works now. grabs whatever video source it finds (using opencv) and blasts it on the 'image' topic. works great on my laptop.

Modified Paths:
--------------
    pkg/trunk/drivers/cam/cv_cam/Makefile
    pkg/trunk/drivers/cam/cv_cam/cv_cam.cpp
    pkg/trunk/drivers/cam/cv_cam/manifest.xml

Modified: pkg/trunk/drivers/cam/cv_cam/Makefile
===================================================================
--- pkg/trunk/drivers/cam/cv_cam/Makefile	2008-05-19 00:29:26 UTC (rev 462)
+++ pkg/trunk/drivers/cam/cv_cam/Makefile	2008-05-19 00:41:43 UTC (rev 463)
@@ -1,5 +1,4 @@
 SRC = cv_cam.cpp
-OUT = ../../nodes/cv_cam
+OUT = cv_cam
 PKG = cv_cam
-LFLAGS = -lhighgui
-include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk
+include $(shell rospack find mk)/node.mk

Modified: pkg/trunk/drivers/cam/cv_cam/cv_cam.cpp
===================================================================
--- pkg/trunk/drivers/cam/cv_cam/cv_cam.cpp	2008-05-19 00:29:26 UTC (rev 462)
+++ pkg/trunk/drivers/cam/cv_cam/cv_cam.cpp	2008-05-19 00:41:43 UTC (rev 463)
@@ -27,31 +27,30 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include "ros/ros_slave.h"
-#include "common_flows/FlowImage.h"
-#include "common_flows/ImageCvBridge.h"
+#include "ros/node.h"
+#include "std_msgs/MsgImage.h"
+#include "image_utils/cv_bridge.h"
 #include "opencv/highgui.h"
 
-class CVCam : public ROS_Slave
+using namespace ros;
+
+class CVCam : public node
 {
 public:
-  FlowImage *image_f;
-  ImageCvBridge<FlowImage> *cv_bridge;
+  MsgImage image_msg;
+  CvBridge<MsgImage> cv_bridge;
   CvCapture *capture;
   IplImage *cam_image;
   double last_image_time;
   int show_image;
 
-  CVCam() : ROS_Slave(), last_image_time(0), show_image(0)
+  CVCam() : node("cv_cam"), cv_bridge(&image_msg), last_image_time(0), 
+            show_image(0)
   {
-    register_source(image_f = new FlowImage("image"));
-    image_f->frame_id = 0; // frame is zero unless specified
-    get_int_param(".frame_id", &image_f->frame_id);
-    get_int_param(".show_image", &show_image);
-    cv_bridge = new ImageCvBridge<FlowImage>(image_f);
+    advertise<MsgImage>("image");
     capture = cvCaptureFromCAM(CV_CAP_ANY);
     if (!capture)
-      log(ROS::ERROR,"woah! couldn't open a camera. is one connected?\n");
+      log(FATAL, "woah! couldn't open a camera. is one connected?\n");
   }
   virtual ~CVCam() 
   {
@@ -63,34 +62,34 @@
     if (!capture)
       return false;
     cam_image = cvQueryFrame(capture);
-    double t = runtime();
+    double t = clock.time();
     double dt = t - last_image_time;
     printf("dt = %f\t(%f fps)\n", dt, 1.0 / dt);
     last_image_time = t;
-    if (show_image)
-      cvShowImage("CV Cam", cam_image);
-    image_f->compression = "raw";
-    cv_bridge->from_cv(cam_image);
-    cv_bridge->set_flow_data();
-    image_f->publish();
+//    if (show_image)
+      cvShowImage("cvcam", cam_image);
+    cv_bridge.from_cv(cam_image);
+    publish("image", image_msg);
     return true;
   }
 };
 
 int main(int argc, char **argv)
 {
-  CVCam a;
-  if (a.show_image)
-    cvNamedWindow("CV Cam", CV_WINDOW_AUTOSIZE);
-  while (a.happy())
+  ros::init(argc, argv);
+  CVCam cvcam;
+//  if (cvcam.show_image)
+    cvNamedWindow("cvcam", CV_WINDOW_AUTOSIZE);
+  while (cvcam.ok())
   {
-    if (a.show_image)
+//    if (cvcam.show_image)
       cvWaitKey(5);
-    if (!a.take_and_send_picture())
+    if (!cvcam.take_and_send_picture())
       usleep(100000);
   }
-  if (a.show_image)
-    cvDestroyWindow("CV Cam");
+//  if (a.show_image)
+    cvDestroyWindow("cvcam");
+  ros::fini();
   return 0;
 }
 

Modified: pkg/trunk/drivers/cam/cv_cam/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/cv_cam/manifest.xml	2008-05-19 00:29:26 UTC (rev 462)
+++ pkg/trunk/drivers/cam/cv_cam/manifest.xml	2008-05-19 00:41:43 UTC (rev 463)
@@ -1,13 +1,14 @@
 <package>
 <description brief="Simple OpenCV-based camera grabber">
 
-This is a simple program which grabs frames from a V4L device using OpenCV and publishes them.
+This is a simple program which grabs frames from a V4L device using OpenCV and
+publishes them.
 
 </description>
 <author>Morgan Quigley (email: mqu...@cs...)</author>
 <license>BSD</license>
 <url>http://stair.stanford.edu</url>
-<depend package="common_flows"/>
-<depend package="opencv"/>
+<depend package="image_utils"/>
+<depend package="roscpp"/>
 </package>
 


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