Class CameraDataProcessor

Inheritance Relationships

Base Type

Class Documentation

class CameraDataProcessor : public multisensor_calibration::DataProcessor2d

Class to processing the image data from the camera and to detect the calibration target within this data.

Public Functions

CameraDataProcessor() = delete

Default constructor is deleted.

CameraDataProcessor(const std::string &iLoggerName, const std::string &iSensorName, const fs::path &iCalibTargetFilePath)

Initialization constructor, providing the node name, the sensor name as well as the path to the calibration target configuration file.

virtual ~CameraDataProcessor()

Destructor.

const lib3d::Intrinsics &cameraIntrinsics() const

Get constant reference to camera intrinsics object.

lib3d::Intrinsics getCameraIntrinsics() const

Get Copy of camera intrinsics object.

EImageState getImageState() const

Get state of the image data that is to be processed.

bool isCameraIntrinsicsSet() const

Get flag indicating if the camera intrinsics object is set.

virtual EProcessingResult processData(const cv::Mat &iCameraImage, const EProcessingLevel &iProcLevel) override

Callback method to process the image data.

In this, first, the markers are detected. If the data is only to be processed as PREVIEW, the border of the markers are drawn into the image and the method returns with success. If the teh processing level is set to TARGET_DETECTION, the corners of the marker are additionally annotated, the board pose is computed based on the detections, and the cloud of the target is computed.

Parameters:

  • iCameraImage – [in] Image as cv::Mat

  • iProcLevel – [in] Level at which the data is to be processed, i.e. PREVIEW or TARGET_DETECTION

Returns:

Result of the processing.

void setCameraIntrinsics(const lib3d::Intrinsics &iIntrinsics)

Set the camera intrinsics for the computation of the board pose.

Parameters:

iIntrinsics – [in] Object of camera intrinsics to set.

void setImageState(const EImageState &iState)

Set the state of the image data that is to be processed.