#include <RealCamera.hpp>

Inheritance diagram for virtual_camera::RealCamera:

Public Member Functions
virtual TableP2ConstPtr	getCachedPositions ()=0
virtual sensor_msgs::CameraInfoConstPtr	getCameraInfo ()=0
virtual sensor_msgs::ImageConstPtr	getImage ()=0
virtual float	getWeight (int row, int col)=0
virtual bool	isReady ()=0
virtual void	setCameraInfo (const sensor_msgs::CameraInfoConstPtr &camInfo)=0
virtual void	setPointsCache (std::string frame, const TableV3Ptr &points)=0
virtual void	updateImage (const sensor_msgs::ImageConstPtr &image)=0
virtual bool	validateCache ()=0
virtual	~RealCamera ()
Static Public Attributes
static const int	NOT_VISIBLE = -1

Detailed Description

Interface for all real cameras. These cameras encapsulate the cameras that physically exist in the system. They are able to provide data about points in space that are observable from these real cameras.

Author:: Jan Brabec

Definition at line 30 of file RealCamera.hpp.

Constructor & Destructor Documentation

virtual virtual_camera::RealCamera::~RealCamera ( ) [inline, virtual]

Definition at line 39 of file RealCamera.hpp.

Member Function Documentation

virtual TableP2ConstPtr virtual_camera::RealCamera::getCachedPositions ( ) [pure virtual]

Via setPointsCache() you can precompute positions you are interested in. Via this function you can get the results.

Returns:: TableP2ConstPtr Table with 2D coordinates in the camera image. If the camera can not see the specific point then its coordinates are assigned the NOT_VISIBLE constant.

Implemented in virtual_camera::RealMonoCamera.

virtual sensor_msgs::CameraInfoConstPtr virtual_camera::RealCamera::getCameraInfo ( ) [pure virtual]

Returns:: sensor_msgs::CameraInfoConstPtr

Implements virtual_camera::Camera.

Implemented in virtual_camera::RealMonoCamera.

virtual sensor_msgs::ImageConstPtr virtual_camera::RealCamera::getImage ( ) [pure virtual]

Returns:: sensor_msgs::ImageConstPtr pointer to the current image.

Implemented in virtual_camera::RealMonoCamera.

virtual float virtual_camera::RealCamera::getWeight	(	int	row,
		int	col
	)		`[pure virtual]`

Weights the position so that position near the center of the camera has higher weight than those near edges.

Parameters:

int	row index in the position cache
int	col index in the position cache

Returns:: float number in interval <0;1>

Implemented in virtual_camera::RealMonoCamera.

virtual bool virtual_camera::RealCamera::isReady ( ) [pure virtual]

Returns:: bool true if the camera has received CameraInfo and Image at least once;

Implemented in virtual_camera::RealMonoCamera.

virtual void virtual_camera::RealCamera::setCameraInfo ( const sensor_msgs::CameraInfoConstPtr & camInfo ) [pure virtual]

Updates the cameras configuration via the camera info. const sensor_msgs::CameraInfoConstPtr & camInfo

Implemented in virtual_camera::RealMonoCamera.

virtual void virtual_camera::RealCamera::setPointsCache	(	std::string	frame,
		const TableV3Ptr &	points
	)		`[pure virtual]`

Passes precomputed points in the specified frame to the camera. The camera is then able to precompute lookup table with projections of those points onto the image plane.

Parameters:

std::string frame tf frame where the points are located const TableV3Ptr & points

Implemented in virtual_camera::RealMonoCamera.

virtual void virtual_camera::RealCamera::updateImage ( const sensor_msgs::ImageConstPtr & image ) [pure virtual]

Immediately updates this cameras image.

Parameters:

const sensor_msgs::ImageConstPtr & image

Implemented in virtual_camera::RealMonoCamera.

virtual bool virtual_camera::RealCamera::validateCache ( ) [pure virtual]

Validates the cache of this camera so it is up to date.