camera_info_manager.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Jack O'Quin
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
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#pragma once
 
#include <string>
 
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/optional.hpp>
#include <sensor_msgs/CameraInfo.h>
 
namespace camera_info_manager_lib
{
class CameraInfoManager : public cras::HasLogger
{
public:
  explicit CameraInfoManager(const std::string& cname = "camera", const std::string& url = "");
 
  explicit CameraInfoManager(
    const cras::LogHelperPtr& log, const std::string& cname = "camera", const std::string& url = "");
 
  virtual ~CameraInfoManager();
 
  sensor_msgs::CameraInfo getCameraInfo();
 
  bool isCalibrated();
 
  static std::string resolveURL(const cras::LogHelperPtr& log,
    const std::string& url, const std::string& cname, const cras::optional<double>& focalLength);
 
  static bool validateURL(const std::string& url);
 
  virtual bool setCameraName(const std::string& cname);
 
  virtual bool setFocalLength(double focalLength);
 
protected:
  enum class URL
  {
    EMPTY = 0,  
    FILE,  
    PACKAGE,  
    // URLs not supported
    INVALID,  
    FLASH,  
  };
 
  static URL parseURL(const std::string& url);
 
  virtual bool loadCalibration(
    const std::string& url, const std::string& cname, const cras::optional<double>& focalLength);
 
  virtual bool loadCalibrationFile(const std::string& filename, const std::string& cname);
 
  virtual bool loadCalibrationFlash(const std::string& flashURL, const std::string& cname);
 
private:
  std::string getPackageFileName(const std::string& url) const;
 
protected:
  std::string cameraName;  
  cras::optional<double> focalLength;  
  std::string url;  
  sensor_msgs::CameraInfo camInfo {};  
  bool loadedCamInfo;  
};
 
}