#include <RealMonoCamera.hpp>

Inheritance diagram for virtual_camera::RealMonoCamera:

Public Member Functions
TableP2ConstPtr	getCachedPositions ()
sensor_msgs::CameraInfoConstPtr	getCameraInfo ()
virtual sensor_msgs::ImageConstPtr	getImage ()
std::string	getName ()
float	getWeight (int row, int col)
bool	isReady ()
	RealMonoCamera (std::string name, const boost::shared_ptr< tf::TransformListener > &listener)
void	setCameraInfo (const sensor_msgs::CameraInfoConstPtr &camInfo)
void	setPointsCache (std::string frame, const TableV3Ptr &points)
void	updateImage (const sensor_msgs::ImageConstPtr &image)
bool	validateCache ()
Private Member Functions
void	applyPlumbBobDistortion (tf::Vector3 &p)
bool	areTransformsEqual (const tf::StampedTransform &t1, const tf::StampedTransform &t2)
void	buildInnerCache ()
void	mapPointToInnerCache (int row, int col, tf::StampedTransform &transform)
Private Attributes
sensor_msgs::CameraInfoConstPtr	camInfo
sensor_msgs::ImageConstPtr	image
tf::Matrix3x3	kMat
std::string	name
TableP2Ptr	positionCache
std::string	requestFrame
TableV3Ptr	requestPoints
boost::shared_ptr < tf::TransformListener >	transformListener
tf::StampedTransform	usedTransform

Detailed Description

Basic implementation of the RealCamera interface

Author:: Jan Brabec

Definition at line 16 of file RealMonoCamera.hpp.

Constructor & Destructor Documentation

virtual_camera::RealMonoCamera::RealMonoCamera	(	std::string	name,
		const boost::shared_ptr< tf::TransformListener > &	listener
	)

Parameters:

std:string	name name of this camera in the system. The tf frame should be named like this and the topics too.
const	boost::shared_ptr<tf::TransformListener> listener instance of listener for this camera can use

Definition at line 7 of file RealMonoCamera.cpp.

Member Function Documentation

void virtual_camera::RealMonoCamera::applyPlumbBobDistortion ( tf::Vector3 & p ) [private]

Applies distortion on the point in the camera frame. Uses the plumb bob distortion model

Parameters:

tf::Vector3 & p

Definition at line 136 of file RealMonoCamera.cpp.

bool virtual_camera::RealMonoCamera::areTransformsEqual	(	const tf::StampedTransform &	t1,
		const tf::StampedTransform &	t2
	)		`[private]`

Checks two transforms for equality

Definition at line 157 of file RealMonoCamera.cpp.

void virtual_camera::RealMonoCamera::buildInnerCache ( ) [private]

Builds the inner cache with data from the requestPoints. Precondition is that the requestPoints is not empty;

Definition at line 97 of file RealMonoCamera.cpp.

TableP2ConstPtr virtual_camera::RealMonoCamera::getCachedPositions ( ) [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.

Implements virtual_camera::RealCamera.

Definition at line 73 of file RealMonoCamera.cpp.

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

Returns:: sensor_msgs::CameraInfoConstPtr

Implements virtual_camera::RealCamera.

Definition at line 25 of file RealMonoCamera.cpp.

sensor_msgs::ImageConstPtr virtual_camera::RealMonoCamera::getImage ( ) [virtual]

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

Implements virtual_camera::RealCamera.

Definition at line 78 of file RealMonoCamera.cpp.

std::string virtual_camera::RealMonoCamera::getName ( ) [virtual]

Returns:: camera's name

Implements virtual_camera::Camera.

Definition at line 68 of file RealMonoCamera.cpp.

float virtual_camera::RealMonoCamera::getWeight	(	int	row,
		int	col
	)		`[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>

Implements virtual_camera::RealCamera.

Definition at line 83 of file RealMonoCamera.cpp.

bool virtual_camera::RealMonoCamera::isReady ( ) [virtual]

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

Implements virtual_camera::RealCamera.

Definition at line 15 of file RealMonoCamera.cpp.

void virtual_camera::RealMonoCamera::mapPointToInnerCache	(	int	row,
		int	col,
		tf::StampedTransform &	transform
	)		`[private]`

Maps point from the requestPoint to the innerCache

Parameters:

int	row row in the requestPoints
int	col column in the requestPoints
tf::StampedTransform	& transform transform between the requestFrame and this cameras frame

Definition at line 116 of file RealMonoCamera.cpp.

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

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

Implements virtual_camera::RealCamera.

Definition at line 30 of file RealMonoCamera.cpp.

void virtual_camera::RealMonoCamera::setPointsCache	(	std::string	frame,
		const TableV3Ptr &	points
	)		`[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

Implements virtual_camera::RealCamera.

Definition at line 43 of file RealMonoCamera.cpp.

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

Immediately updates this cameras image.

Parameters:

const sensor_msgs::ImageConstPtr & image

Implements virtual_camera::RealCamera.

Definition at line 38 of file RealMonoCamera.cpp.

bool virtual_camera::RealMonoCamera::validateCache ( ) [virtual]

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