00001 /* 00002 * Copyright (C) 2013-2014 Unbounded Robotics Inc. 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 // Author: Michael Ferguson 00018 00019 #ifndef ROBOT_CALIBRATION_MODELS_CAMERA3D_H 00020 #define ROBOT_CALIBRATION_MODELS_CAMERA3D_H 00021 00022 #include <robot_calibration/camera_info.h> 00023 #include <robot_calibration/models/chain.h> 00024 00025 namespace robot_calibration 00026 { 00027 00031 class Camera3dModel : public ChainModel 00032 { 00033 public: 00041 Camera3dModel(const std::string& name, KDL::Tree model, std::string root, std::string tip); 00042 virtual ~Camera3dModel() {} 00043 00047 virtual std::vector<geometry_msgs::PointStamped> project( 00048 const robot_calibration_msgs::CalibrationData& data, 00049 const CalibrationOffsetParser& offsets); 00050 }; 00051 00052 } // namespace robot_calibration 00053 00054 #endif // ROBOT_CALIBRATION_MODELS_CAMERA3D_H