RealCamera.hpp

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/*
 * RealCamera.hpp
 *
 *  Created on: Oct 30, 2012
 *      Author: jb
 */

#ifndef REALCAMERA_HPP_
#define REALCAMERA_HPP_

#include <list>
#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
#include <sensor_msgs/Image.h>

#include "common_defs.hpp"
#include "Camera.hpp"


namespace virtual_camera {


class RealCamera: public Camera {
public:
        static const int NOT_VISIBLE = -1;


        virtual ~RealCamera() { }


        virtual bool isReady() = 0;


        virtual void setCameraInfo(const sensor_msgs::CameraInfoConstPtr & camInfo) = 0;


        virtual sensor_msgs::CameraInfoConstPtr getCameraInfo() = 0;


        virtual void updateImage(const sensor_msgs::ImageConstPtr & image) = 0;


        virtual void setPointsCache(std::string frame, const TableV3Ptr & points) = 0;


        virtual bool validateCache() = 0;


        virtual sensor_msgs::ImageConstPtr getImage() = 0;


        virtual TableP2ConstPtr getCachedPositions() = 0;


        virtual float getWeight(int row, int col) = 0;
};


typedef boost::shared_ptr<RealCamera> RealCameraPtr;
typedef boost::shared_ptr<std::list<RealCameraPtr> > RealCameraPtrListPtr;
}


#endif /* REALCAMERA_HPP_ */