CameraCalibrator.h
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00001 // -*- c++ -*-
00002 // Copyright 2008 Isis Innovation Limited
00003 
00004 #ifndef __CAMERACALIBRATOR_H
00005 #define __CAMERACALIBRATOR_H
00006 #include "CalibImage.h"
00007 #include <gvars3/gvars3.h>
00008 #include <vector>
00009 #include "GLWindow2.h"
00010 #include <ros/ros.h>
00011 #include <image_transport/image_transport.h>
00012 #include <sensor_msgs/image_encodings.h>
00013 
00014 class CameraCalibrator
00015 {
00016 public:
00017   CameraCalibrator();
00018   ~CameraCalibrator();
00019   void Run();
00020 
00021 protected:
00022   void Reset();
00023   void init();
00024   GLWindow2 *mGLWindow;
00025   ATANCamera mCamera;
00026   bool mbDone;
00027 
00028   std::vector<CalibImage> mvCalibImgs;
00029   void OptimizeOneStep();
00030 
00031   bool mbGrabNextFrame;
00032 
00033   GVars3::gvar3<int> mgvnOptimizing;
00034   GVars3::gvar3<int> mgvnShowImage;
00035   GVars3::gvar3<int> mgvnDisableDistortion;
00036 
00037   double mdMeanPixelError;
00038 
00039   CVD::Image<CVD::byte> mCurrentImage;
00040   image_transport::Subscriber mImageSub;
00041   bool mDoOptimize;
00042   bool mNewImage;
00043   void imageCallback(const sensor_msgs::ImageConstPtr & img);
00044 
00045   void GUICommandHandler(std::string sCommand, std::string sParams);
00046   static void GUICommandCallBack(void* ptr, std::string sCommand, std::string sParams);
00047 };
00048 
00049 #endif


ptam
Author(s): Markus Achtelik , Stephan Weiss , Simon Lynen
autogenerated on Sun Oct 5 2014 23:52:33