demo.cpp

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#include <opencv2/imgproc/imgproc.hpp>                  //Include headers for OpenCV Image processing
#include <opencv2/highgui/highgui.hpp>                  //Include headers for OpenCV GUI handling
#include <iostream> 
#include <stdio.h> 
#include <ros/ros.h>    
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_transport/image_transport.h>
#include <signal.h>

using namespace std;
using namespace cv;
void sighandler(int sig)
{
        ROS_ERROR("Signal %d caught...",sig);
        cout<<"Shuting down road_recognition"<<endl;
        exit(0);
}

void Callback(const sensor_msgs::CameraInfoPtr& cam_info)
{
        cout<<"---> Camera configurations"<<endl;
        cout<<"imge size "<<endl<<"\t"<<cam_info->height<<" x "<<cam_info->width<<endl;
        cout<<"distortion_model:"<<endl<<"\t"<<cam_info->distortion_model<<endl;
        
//      cout<<"\tbinning_x = "<<cam_info->binning_x<<endl;
//      cout<<"\tbinning_y = "<<cam_info->binning_y<<endl;
        
        cout<<"focal lengths"<<endl<<"\t fx ="<<cam_info->K[0]<<"  fy = "<<cam_info->K[4]<<endl;
        cout<<"principal point"<<endl<<"\t cx ="<<cam_info->K[2]<<"  cy = "<<cam_info->K[5]<<endl;
        
        
        cout<<"---> Camera configurations Updated"<<endl;
        exit(0);
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "demo");
        
        /* Obter as definições das cameras do Atlas e guardar para ficheiro */
        ros::NodeHandle nh;
        signal(SIGINT, &sighandler);
        
        /* Create an ImageTransport instance, initializing it with our NodeHandle. */
//      image_transport::ImageTransport it(nh);
        ros::Subscriber sub = nh.subscribe("/snr/scam/wide/left/camera_info", 1, Callback);
        ros::spin();
        ROS_INFO("Caltech::main.cpp::No error.");
//      /* carregar a imagem */
//      Mat image,eq_image,gray_image;  
//      image = imread("src/src.png", CV_LOAD_IMAGE_COLOR);
//      cvtColor(image,gray_image,CV_RGB2GRAY);
//      
//      equalizeHist( gray_image, eq_image );
//      
//      
//      imshow( "Original img", image );
//      imshow( "Eq img", eq_image );
//      imshow( "gray_image",gray_image);
//      waitKey(0); 
        
//      return 0;
}