RealMonoCamera.hpp

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#ifndef REALMONOCAMERA_HPP_
#define REALMONOCAMERA_HPP_

#include <tf/transform_listener.h>
#include <algorithm>
#include "RealCamera.hpp"

namespace virtual_camera {

class RealMonoCamera: public RealCamera {
private:
        std::string name;
        tf::Matrix3x3 kMat;
        tf::StampedTransform usedTransform;
        TableV3Ptr requestPoints;
        TableP2Ptr positionCache;
        std::string requestFrame;
        sensor_msgs::CameraInfoConstPtr camInfo;
        sensor_msgs::ImageConstPtr image;
        boost::shared_ptr<tf::TransformListener> transformListener;


        void buildInnerCache();


        void mapPointToInnerCache(int row, int col, tf::StampedTransform & transform);


        void applyPlumbBobDistortion(tf::Vector3 & p);


        bool areTransformsEqual(const tf::StampedTransform & t1, const tf::StampedTransform & t2);
public:
        RealMonoCamera(std::string name,
                        const boost::shared_ptr<tf::TransformListener> & listener);

        bool isReady();
        sensor_msgs::CameraInfoConstPtr getCameraInfo();
        void setCameraInfo(const sensor_msgs::CameraInfoConstPtr & camInfo);
        void updateImage(const sensor_msgs::ImageConstPtr & image);
        void setPointsCache(std::string frame, const TableV3Ptr & points);
        TableP2ConstPtr getCachedPositions();
        virtual sensor_msgs::ImageConstPtr getImage();
        bool validateCache();
        std::string getName();
        float getWeight(int row, int col);
};


}


#endif /* REALMONOCAMERA_HPP_ */