mono_camera.h

Go to the documentation of this file.

#pragma once
 
#include "ensenso_camera/camera.h"
 
#include "ensenso_camera/ros2/ensenso_msgs/image_point.h"
#include "ensenso_camera/ros2/ensenso_msgs/locate_pattern_mono.h"
#include "ensenso_camera/ros2/ensenso_msgs/request_data_mono.h"
 
class MonoCamera : public Camera
{
private:
  sensor_msgs::msg::CameraInfoPtr cameraInfo;
  sensor_msgs::msg::CameraInfoPtr rectifiedCameraInfo;
 
  std::unique_ptr<RequestDataMonoServer> requestDataServer;
  std::unique_ptr<LocatePatternMonoServer> locatePatternServer;
 
  image_transport::CameraPublisher rawImagePublisher;
  image_transport::CameraPublisher rectifiedImagePublisher;
 
public:
  MonoCamera(ensenso::ros::NodeHandle& nh, CameraParameters params);
 
  void init() override;
 
  ensenso::ros::Time capture() const override;
 
  void onSetParameter(ensenso::action::SetParameterGoalConstPtr const& goal) override;
 
  void onRequestData(ensenso::action::RequestDataMonoGoalConstPtr const& goal);
 
  void onLocatePattern(ensenso::action::LocatePatternMonoGoalConstPtr const& goal);
 
private:
  void startServers() const override;
 
  void updateCameraInfo() override;
 
  geometry_msgs::msg::PoseStamped estimatePatternPose(ensenso::ros::Time imageTimestamp,
                                                      std::string const& targetFrame = "",
                                                      bool latestPatternOnly = false) const override;
 
  std::vector<geometry_msgs::msg::PoseStamped> estimatePatternPoses(ensenso::ros::Time imageTimestamp,
                                                                    std::string const& targetFrame = "") const override;
 
  void advertiseTopics();
 
  void fillCameraInfoFromNxLib(sensor_msgs::msg::CameraInfoPtr const& info, bool rectified = false);
 
  std::vector<MonoCalibrationPattern> collectPattern(bool clearBuffer = false) const;
};