#include <InterpolatingImageComposer.hpp>

Inheritance diagram for virtual_camera::InterpolatingImageComposer:

Public Member Functions
void	compose (const cv_bridge::CvImagePtr &target, const std::string &encoding)
	InterpolatingImageComposer (const RealCameraPtrListPtr &realCameras)
void	refreshCache (uint rows, uint cols)
Private Member Functions
void	prepareRealCameraImages (const std::string &encoding)
Private Attributes
uint	cacheSize
std::vector < cv_bridge::CvImageConstPtr >	camsImg
std::vector< bool >	camsNeeded
std::vector< TableP2ConstPtr >	camsPos
RealCameraPtrListPtr	realCameras
boost::shared_array< float >	weightCache

Detailed Description

Image composer that uses linear interpolation to combine points from the RealCameras based on their weight.

Author:: Jan Brabec

Definition at line 24 of file InterpolatingImageComposer.hpp.

Constructor & Destructor Documentation

virtual_camera::InterpolatingImageComposer::InterpolatingImageComposer ( const RealCameraPtrListPtr & realCameras )

Constructs the object with list containing the realCameras. The list can be modified but, after each modification it is safe to call refreshCache()

Parameters:

const cv_bridge::CvImagePtr & realCameras

Definition at line 7 of file InterpolatingImageComposer.cpp.

Member Function Documentation

void virtual_camera::InterpolatingImageComposer::compose	(	const cv_bridge::CvImagePtr &	target,
		const std::string &	encoding
	)		`[virtual]`

Fills the data of the target. Each of the subclasses can choose different method to do it. Precondition is that the cache is up to date.

Parameters:

const	cv_bridge::CvImagePtr & target
const	std::string & encoding encoding of the camera image

Implements virtual_camera::ImageComposer.

Definition at line 56 of file InterpolatingImageComposer.cpp.

void virtual_camera::InterpolatingImageComposer::prepareRealCameraImages ( const std::string & encoding ) [private]

Definition at line 85 of file InterpolatingImageComposer.cpp.

void virtual_camera::InterpolatingImageComposer::refreshCache	(	uint	rows,
		uint	cols
	)		`[virtual]`

If the class caches some information, this call tells it to refresh the cache. Needs to be called when configuration of the cameras changes, number of cameras changes or position of cameras to each other changes.

Parameters: