00001 #ifndef VIRTUALPINHOLECAMERA_HPP_ 00002 #define VIRTUALPINHOLECAMERA_HPP_ 00003 00004 00005 #include <angles/angles.h> 00006 #include <list> 00007 #include <math.h> 00008 #include <tf/transform_broadcaster.h> 00009 #include <sensor_msgs/CameraInfo.h> 00010 #include <opencv2/core/core.hpp> 00011 #include <cv_bridge/cv_bridge.h> 00012 00013 #include "common_defs.hpp" 00014 #include "inner_components/InterpolatingImageComposer.hpp" 00015 #include "inner_components/PinholeCameraModel.hpp" 00016 #include "inner_components/BasicCylinderCameraModel.hpp" 00017 #include "inner_components/SphericalCameraModel.hpp" 00018 #include "VirtualCamera.hpp" 00019 00020 00021 namespace virtual_camera { 00022 00023 00030 class GeneralVirtualCamera: public VirtualCamera { 00031 private: 00032 boost::array<double, 9> Rci, Rci0; 00033 boost::array<double, 9> Kci, Kci0; 00034 boost::array<double, 12> Pci, Pci0; 00035 std::vector<double> Dci; 00036 bool isValidCameraInfo; 00037 tf::TransformBroadcaster broadcaster; 00038 tf::Transform transform; 00039 ImageComposerPtr composer; 00040 CameraModelPtr model; 00041 TableV3Ptr pointCloud; 00042 RealCameraPtrListPtr realCameras; 00043 VirtualCameraParametersPtr parameters; 00044 std::string name; 00046 double hFovRad; 00048 double vFovRad; 00049 int seqId; 00051 bool composerCacheFlag; 00053 bool updatePointCloudFlag; 00054 00055 void updateExternalParameters(const VirtualCameraParametersPtr & params); 00056 void updateInternalParameters(const VirtualCameraParametersPtr & params); 00057 void updateCameraModel(const std::string & indentifier); 00058 cv_bridge::CvImagePtr createEmptyImage(); 00059 void updateCachesIfNeeded(); 00060 void broadcast(); 00061 void updateCameraInfo(); 00062 00063 public: 00064 00065 00071 GeneralVirtualCamera(const std::string & name, 00072 const VirtualCameraParametersPtr & params); 00073 00074 sensor_msgs::CameraInfoConstPtr getCameraInfo(); 00075 sensor_msgs::ImageConstPtr generateImage(); 00076 bool addRealCamera(const RealCameraPtr & realCamera); 00077 bool removeRealCamera(const RealCameraPtr & realCamera); 00078 void updateVirtualCameraParameters(const VirtualCameraParametersPtr & params); 00079 double getFrameRate(); 00080 std::string getName(); 00081 00082 }; 00083 00084 00085 } 00086 00087 #endif /* VIRTUALPINHOLECAMERA_HPP_ */
