[Personalrobots-commit] SF.net SVN: personalrobots: [840] pkg/trunk

[<jl...@us...>]

Revision: 840
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=840&view=rev
Author:   jleibs
Date:     2008-06-17 17:58:47 -0700 (Tue, 17 Jun 2008)

Log Message:
-----------
Added polled_images as a service, and a polled cv_viewer with which to test it.

Modified Paths:
--------------
    pkg/trunk/drivers/cam/axis_cam/manifest.xml
    pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp
    pkg/trunk/vision/cv_view/manifest.xml
    pkg/trunk/vision/cv_view/minimal/cv_view.cpp

Added Paths:
-----------
    pkg/trunk/vision/cv_view/service/
    pkg/trunk/vision/cv_view/service/Makefile
    pkg/trunk/vision/cv_view/service/cv_view.cpp

Modified: pkg/trunk/drivers/cam/axis_cam/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/axis_cam/manifest.xml	2008-06-17 23:54:34 UTC (rev 839)
+++ pkg/trunk/drivers/cam/axis_cam/manifest.xml	2008-06-18 00:58:47 UTC (rev 840)
@@ -13,6 +13,7 @@
 <url>http://stair.stanford.edu</url>
 <depend package="roscpp"/>
 <depend package="std_msgs"/>
+<depend package="std_srvs"/>
 <depend package="rosthread"/>
 <depend package="string_utils"/>
 <depend package="image_utils"/>

Modified: pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp
===================================================================
--- pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp	2008-06-17 23:54:34 UTC (rev 839)
+++ pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp	2008-06-18 00:58:47 UTC (rev 840)
@@ -29,6 +29,7 @@
 
 #include "ros/node.h"
 #include "std_msgs/Image.h"
+#include "std_srvs/PolledImage.h"
 #include "image_utils/image_codec.h"
 
 #include "axis_cam/axis_cam.h"
@@ -46,6 +47,7 @@
   Axis_cam_node() : ros::node("axis_ptz"), codec(&image), cam(NULL), frame_id(0)
   {
     advertise<std_msgs::Image>("image");
+    advertise_service("polled_image", &Axis_cam_node::polled_image_cb);
 
     param("host", axis_host, string("192.168.0.90"));
     printf("axis_cam host set to [%s]\n", axis_host.c_str());
@@ -59,6 +61,15 @@
       delete cam; 
   }
 
+  bool polled_image_cb(std_srvs::PolledImage::request  &req,
+                       std_srvs::PolledImage::response &res )
+  {
+    image.lock();
+    res.image = image;
+    image.unlock();
+    return true;
+  }
+
   bool take_and_send_image()
   {
     uint8_t *jpeg;
@@ -76,6 +87,7 @@
     image.compression = "jpeg";
 
     codec.inflate_header();
+
     publish("image", image);
 
     return true;
@@ -97,4 +109,3 @@
   ros::fini();
   return 0;
 }
-

Modified: pkg/trunk/vision/cv_view/manifest.xml
===================================================================
--- pkg/trunk/vision/cv_view/manifest.xml	2008-06-17 23:54:34 UTC (rev 839)
+++ pkg/trunk/vision/cv_view/manifest.xml	2008-06-18 00:58:47 UTC (rev 840)
@@ -7,6 +7,7 @@
   <license>BSD</license>
   <depend package="opencv"/>
   <depend package="std_msgs"/>
+  <depend package="std_srvs"/>
   <depend package="image_utils"/>
   <depend package="roscpp"/>
 </package>

Modified: pkg/trunk/vision/cv_view/minimal/cv_view.cpp
===================================================================
--- pkg/trunk/vision/cv_view/minimal/cv_view.cpp	2008-06-17 23:54:34 UTC (rev 839)
+++ pkg/trunk/vision/cv_view/minimal/cv_view.cpp	2008-06-18 00:58:47 UTC (rev 840)
@@ -16,7 +16,7 @@
   std_msgs::Image image_msg;
   CvBridge<std_msgs::Image> cv_bridge;
 
-  CvView() : node("cv_view"), cv_bridge(&image_msg)
+  CvView() : node("cv_view"), cv_bridge(&image_msg, CvBridge<std_msgs::Image>::CORRECT_BGR)
   { 
     cvNamedWindow("cv_view", CV_WINDOW_AUTOSIZE);
     subscribe("image", image_msg, &CvView::image_cb);

Added: pkg/trunk/vision/cv_view/service/Makefile
===================================================================
--- pkg/trunk/vision/cv_view/service/Makefile	                        (rev 0)
+++ pkg/trunk/vision/cv_view/service/Makefile	2008-06-18 00:58:47 UTC (rev 840)
@@ -0,0 +1,4 @@
+SRC = cv_view.cpp 
+OUT = cv_view
+PKG = cv_view
+include $(shell rospack find mk)/node.mk

Added: pkg/trunk/vision/cv_view/service/cv_view.cpp
===================================================================
--- pkg/trunk/vision/cv_view/service/cv_view.cpp	                        (rev 0)
+++ pkg/trunk/vision/cv_view/service/cv_view.cpp	2008-06-18 00:58:47 UTC (rev 840)
@@ -0,0 +1,73 @@
+#include <cstdio>
+#include <vector>
+#include "opencv/cxcore.h"
+#include "opencv/cv.h"
+#include "opencv/highgui.h"
+#include "ros/node.h"
+#include "std_msgs/Image.h"
+#include "std_srvs/PolledImage.h"
+#include "image_utils/cv_bridge.h"
+
+#include <sys/stat.h>
+
+using namespace std;
+
+class CvView : public ros::node
+{
+public:
+  CvBridge<std_msgs::Image> cv_bridge;
+
+  std_srvs::PolledImage::request  req;
+  std_srvs::PolledImage::response res;
+
+  ros::thread::mutex cv_mutex;
+
+  IplImage *cv_image;
+
+  CvView() : node("cv_view"), cv_bridge(&(res.image), CvBridge<std_msgs::Image>::CORRECT_BGR | CvBridge<std_msgs::Image>::MAXDEPTH_8U),
+             cv_image(0)
+  { 
+    cvNamedWindow("cv_view", CV_WINDOW_AUTOSIZE);
+  }
+
+  ~CvView()
+  {
+    if (cv_image)
+      cvReleaseImage(&cv_image);
+  }
+
+  void check_keys() 
+  {
+    cv_mutex.lock();
+    if (cvWaitKey(3) == 10)
+    {
+      if (cv_image)
+        cvReleaseImage(&cv_image);
+
+      if (ros::service::call("polled_image", req, res))
+      {
+        if (cv_bridge.to_cv(&cv_image))
+        {
+          cvShowImage("cv_view", cv_image);
+        }        
+      }
+      else
+        printf("error calling the polled_image service\n");
+    }
+    cv_mutex.unlock();
+  }
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv);
+  CvView view;
+  while (view.ok()) 
+  {
+    usleep(10000);
+    view.check_keys();
+  }
+  ros::fini();
+  return 0;
+}
+


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