switch rtabmap_lib svn co from the 0.3 branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/src/CameraNodeReceiver.cpp

@@ -0,0 +1,52 @@
+/*
+ * CameraNodeReceiver.cpp
+ *
+ *  Created on: 2 févr. 2010
+ *      Author: labm2414
+ */
+
+#include <ros/ros.h>
+//#include <sensor_msgs/CompressedImage.h>
+#include <cv_bridge/CvBridge.h>
+#include <highgui.h>
+
+void imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg)
+{
+	// Decompress
+	//const CvMat compressed = cvMat(1, image->data.size(), CV_8UC1, const_cast<unsigned char*>(&image->data[0]));
+	//IplImage * decompressed = cvDecodeImage(&compressed, CV_LOAD_IMAGE_ANYCOLOR);
+
+	//ROS_INFO("Received an image size=(%d,%d)", decompressed->width, decompressed->height);
+	//cvShowImage( "ImageReceived", decompressed );
+	//cvReleaseImage(&decompressed);
+
+	IplImage * image = 0;
+	sensor_msgs::CvBridge bridge;
+	if(msg->data.size())
+	{
+		image = bridge.imgMsgToCv(msg);
+	}
+
+	if(image)
+	{
+		ROS_INFO("Received an image size=(%d,%d)", image->width, image->height);
+		cvShowImage( "ImageReceived", image);
+	}
+}
+
+int main(int argc, char** argv)
+{
+	cvStartWindowThread();
+	cvNamedWindow("ImageReceived", CV_WINDOW_AUTOSIZE);
+	cvMoveWindow("ImageReceived", 100, 100); // offset from the UL corner of the screen
+
+	ros::init(argc, argv, "camera_node_receiver");
+	ros::NodeHandle n;
+	ros::Subscriber image_sub = n.subscribe("image", 1, imgReceivedCallback);
+
+	ROS_INFO("Waiting for images...");
+
+	ros::spin();
+
+	cvDestroyWindow("ImageReceived");
+}