#include <GeneralVirtualCamera.hpp>

Inheritance diagram for virtual_camera::GeneralVirtualCamera:

Public Member Functions
bool	addRealCamera (const RealCameraPtr &realCamera)
	GeneralVirtualCamera (const std::string &name, const VirtualCameraParametersPtr &params)
sensor_msgs::ImageConstPtr	generateImage ()
sensor_msgs::CameraInfoConstPtr	getCameraInfo ()
double	getFrameRate ()
std::string	getName ()
bool	removeRealCamera (const RealCameraPtr &realCamera)
void	updateVirtualCameraParameters (const VirtualCameraParametersPtr &params)
Private Member Functions
void	broadcast ()
cv_bridge::CvImagePtr	createEmptyImage ()
void	updateCachesIfNeeded ()
void	updateCameraInfo ()
void	updateCameraModel (const std::string &indentifier)
void	updateExternalParameters (const VirtualCameraParametersPtr &params)
void	updateInternalParameters (const VirtualCameraParametersPtr &params)
Private Attributes
tf::TransformBroadcaster	broadcaster
ImageComposerPtr	composer
bool	composerCacheFlag
std::vector< double >	Dci
double	hFovRad
bool	isValidCameraInfo
boost::array< double, 9 >	Kci
boost::array< double, 9 >	Kci0
CameraModelPtr	model
std::string	name
VirtualCameraParametersPtr	parameters
boost::array< double, 12 >	Pci
boost::array< double, 12 >	Pci0
TableV3Ptr	pointCloud
boost::array< double, 9 >	Rci
boost::array< double, 9 >	Rci0
RealCameraPtrListPtr	realCameras
int	seqId
tf::Transform	transform
bool	updatePointCloudFlag
double	vFovRad

Detailed Description

The implementation of the VirtualCamera interface. The camera model is determined in runtime.

Author:: Jan Brabec

Definition at line 30 of file GeneralVirtualCamera.hpp.

Constructor & Destructor Documentation

virtual_camera::GeneralVirtualCamera::GeneralVirtualCamera	(	const std::string &	name,
		const VirtualCameraParametersPtr &	params
	)

Parameters:

const	std::string & name Camera name has to be unique id in the tf tree. The frame of this camera will have this name.
const	VirtualCameraParametersPtr & params initialization parameters

Definition at line 8 of file GeneralVirtualCamera.cpp.

Member Function Documentation

bool virtual_camera::GeneralVirtualCamera::addRealCamera ( const RealCameraPtr & realCamera ) [virtual]

Adds new RealCamera to the set this camera gets information from.

Parameters:

const RealCameraPtr & realCamera

Returns:: true if camera was added, false if the camera is already registered.

Implements virtual_camera::VirtualCamera.

Definition at line 55 of file GeneralVirtualCamera.cpp.

void virtual_camera::GeneralVirtualCamera::broadcast ( ) [private]

Definition at line 173 of file GeneralVirtualCamera.cpp.

cv_bridge::CvImagePtr virtual_camera::GeneralVirtualCamera::createEmptyImage ( ) [private]

Definition at line 135 of file GeneralVirtualCamera.cpp.

sensor_msgs::ImageConstPtr virtual_camera::GeneralVirtualCamera::generateImage ( ) [virtual]

Creates new image from this camera right at the time this function is called. Thanks to caching a lot of information is calculated only if the positions of this cameras frame and the real cameras frames change.

Returns:: sensor_msgs::ImageConstPtr

Implements virtual_camera::VirtualCamera.

Definition at line 45 of file GeneralVirtualCamera.cpp.

sensor_msgs::CameraInfoConstPtr virtual_camera::GeneralVirtualCamera::getCameraInfo ( ) [virtual]

Gets the cameras CameraInfo which contains the fundamental information about the camera.

Returns:: sensor_msgs::CameraInfoConstPtr& cInfo

Implements virtual_camera::Camera.

Definition at line 30 of file GeneralVirtualCamera.cpp.

double virtual_camera::GeneralVirtualCamera::getFrameRate ( ) [virtual]

Gets the frame rate of this camera in Hz. Know that it's just a number this camera got from some kind of setter. The camera itself doesn't implement any loop and therefore doesn't generate any images automatically. You can use this number to implement this loop.