CameraModelPointCorrector.h
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00001 #ifndef __CameraModelPointCorrector__
00002 #define __CameraModelPointCorrector__
00003 
00004 #include <image_geometry/pinhole_camera_model.h>
00005 
00006 #include <sensor_msgs/CameraInfo.h>
00007 
00008 #include "EdgeDetection/PointCorrector.h"
00009 #include "EdgeDetection/Vector2.h"
00010 
00011 class CameraModelPointCorrector : public EdgeDetection::PointCorrector
00012 {
00013         private: image_geometry::PinholeCameraModel cameraModel;
00014 
00015         public: EdgeDetection::Vector2 CorrectPoint(EdgeDetection::Vector2 point)
00016         {
00017                 Point2d rawPoint(point.GetX(), point.GetY());
00018                 Point2d correctedPoint = cameraModel.rectifyPoint(rawPoint);
00019 
00020                 return EdgeDetection::Vector2(correctedPoint.x, correctedPoint.y);
00021         }
00022         public: void updateCameraModel(const sensor_msgs::CameraInfoConstPtr& cameraInfo)
00023         {
00024                 cameraModel.fromCameraInfo(cameraInfo);
00025         }
00026         public: void updateCameraModel(sensor_msgs::CameraInfo& cameraInfo)
00027         {
00028                 cameraModel.fromCameraInfo(cameraInfo);
00029         }
00030 };
00031 
00032 #endif


aruco_pose
Author(s): Julian Brunner
autogenerated on Mon Oct 6 2014 08:32:33