monocam_settler: monocam_settler: monocam

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00002 * Software License Agreement (BSD License)
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00034 
00035 #ifndef MONOCAM_SETTLER_MONOCAM_SETTLER_H_
00036 #define MONOCAM_SETTLER_MONOCAM_SETTLER_H_
00037 
00038 #include <boost/shared_ptr.hpp>
00039 #include <calibration_msgs/CalibrationPattern.h>
00040 #include <calibration_msgs/Interval.h>
00041 
00042 #include <settlerlib/sorted_deque.h>
00043 #include <settlerlib/deflated.h>
00044 
00045 #include <monocam_settler/ConfigGoal.h>
00046 
00047 namespace monocam_settler
00048 {
00049 
00050 class DeflatedCalibrationPattern : public settlerlib::Deflated
00051 {
00052 public:
00053   calibration_msgs::CalibrationPatternConstPtr msg_;
00054 };
00055 
00056 
00057 class MonocamSettler
00058 {
00059 public:
00060   MonocamSettler();
00061   bool configure(const monocam_settler::ConfigGoal& goal);
00062 
00063   bool add(const calibration_msgs::CalibrationPatternConstPtr msg,
00064            calibration_msgs::Interval& interval);
00065 
00066 private:
00067   bool configured_;
00068   double tol_;
00069   ros::Duration max_step_;
00070   bool ignore_failures_;
00071 
00072   void deflate(const calibration_msgs::CalibrationPatternConstPtr& image_features,
00073                DeflatedCalibrationPattern& deflated);
00074 
00075   typedef settlerlib::SortedDeque< boost::shared_ptr<const DeflatedCalibrationPattern> > DeflatedMsgCache;
00076   typedef settlerlib::SortedDeque<settlerlib::DeflatedConstPtr> DeflatedCache;
00077   DeflatedMsgCache cache_;
00078 };
00079 
00080 }
00081 
00082 #endif
monocam_settler.h
