CameraDummy.hpp

//Camera.hpp
// Created on: Apr 19, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>

#pragma once
#include <opencv2/opencv.hpp>
#include <sys/ioctl.h>
#include <stdio.h>
#include <fcntl.h>
#include <ros/ros.h>
#include <vision_module/Tools/Parameters.hpp>
#include <vision_module/Tools/MatPublisher.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <vision_module/Inputs/ICamera.hpp>
using namespace cv;
using namespace boost::timer;

class CameraDummy: public ICamera
{
private:
    ros::NodeHandle nodeHandle;
    image_transport::Subscriber sub;
    image_transport::Subscriber subVis;
    image_transport::ImageTransport it_;
    int capNumber;
public:
    inline CameraDummy() :
            it_(nodeHandle), capNumber(0)
    {
        sub = it_.subscribe("/vision/takenImg", 1, &CameraDummy::imageCallback, this);
        subVis = it_.subscribe("/vis/vision/takenImg", 1, &CameraDummy::imageCallback, this);
        rawImageTime = ros::Time::now();
    }
    inline virtual ~CameraDummy()
    {
    }
    void imageCallback(const sensor_msgs::ImageConstPtr& msg)
    {
        try
        {
            rawImageTime = ros::Time::now();
            cv_bridge::CvImagePtr cv_ptr;
            cv_ptr = cv_bridge::toCvCopy(msg,
                    sensor_msgs::image_encodings::BGR8);
            rawImage = cv_ptr->image.clone();
            if (params.camera->flipHor() && params.camera->flipVer())
            {
                flip(rawImage, rawImage, -1);
            }
            else
            {
                if (params.camera->flipVer())
                {
                    flip(rawImage, rawImage, 0);
                }
                else if (params.camera->flipHor())
                {
                    flip(rawImage, rawImage, 1);
                }
            }
            capNumber++;
        } catch (cv_bridge::Exception& e)
        {
            ROS_ERROR("cv_bridge exception: %s", e.what());
            return;
        }
    }
    inline bool IsReady()
    {
        return capNumber >= 1;
    }
    inline bool IsDummy()
    {
        return true;
    }
    inline void DeInitCameraDevice()
    {

    }
    bool InitCameraDevice(bool);
    double TakeCapture();

    inline bool ShouldPublish()
    {
        return false;
    }
};