camera_configurations.h

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#ifndef _CAMERA_CONFIGURATIONS_H_
#define _CAMERA_CONFIGURATIONS_H_

#include <ros/ros.h>

#include <cmath>

#include <geometry_msgs/Vector3Stamped.h>
#include <geometry_msgs/PointStamped.h>

#include "object_manipulator/tools/exceptions.h"

#include "configuration_loader.h"

namespace object_manipulator {

class CameraConfigurations : public ConfigurationLoader
{
private:

public:
  CameraConfigurations() {}

  inline std::vector< double > get_camera_pose( const std::string &position_name )
  {
    ROS_WARN("This functionality is deprecated. Use get_camera_placement instead.");
    std::string name = "/im_camera_configurations/" + position_name;
    std::vector<double> values = getVectorDoubleParam(name);
    if (values.size() != 6) throw BadParamException(name);
    return values;
  }

  inline bool get_camera_placement( const std::string &position_name,
                                    geometry_msgs::PointStamped &eye,
                                    geometry_msgs::PointStamped &focus,
                                    geometry_msgs::Vector3Stamped &up)
  {
    try
    {
      std::string name = "/im_camera_placements/" + position_name;
      //std::string frame_id = "";
      eye.header.stamp = ros::Time(0);
      eye.header.frame_id = getStringParam(name + "/eye/frame_id");
      focus.header.stamp = ros::Time(0);
      focus.header.frame_id = getStringParam(name + "/focus/frame_id");
      up.header.stamp = ros::Time(0);
      up.header.frame_id = getStringParam(name + "/up/frame_id");

      std::vector<double> eye_values = getVectorDoubleParam(name + "/eye/point");
      if (eye_values.size() != 3) throw BadParamException(name + "/eye/point");
      eye.point.x = eye_values[0];
      eye.point.y = eye_values[1];
      eye.point.z = eye_values[2];

      std::vector<double> focus_values = getVectorDoubleParam(name + "/focus/point");
      if (focus_values.size() != 3) throw BadParamException(name + "/focus/point");
      focus.point.x = focus_values[0];
      focus.point.y = focus_values[1];
      focus.point.z = focus_values[2];

      std::vector<double> up_values = getVectorDoubleParam(name + "/up/vector");
      if (up_values.size() != 3) throw BadParamException(name + "/up/vector");
      up.vector.x = up_values[0];
      up.vector.y = up_values[1];
      up.vector.z = up_values[2];

      return true;
    }
    catch(object_manipulator::BadParamException &ex)
    {
      ROS_ERROR("%s \n (Parameters that represent doubles or lists of doubles need to have decimal points.)", ex.what());
    }
    catch(object_manipulator::MissingParamException &ex)
    {
      ROS_ERROR("%s", ex.what());
    }
    return false;
  }

}; // end of class definition

inline CameraConfigurations& cameraConfigurations()
{
  static CameraConfigurations camera_configs;
  return camera_configs;
}

} //namespace object_manipulator

#endif