00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2010 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob_driver 00012 * ROS package name: cob_camera_sensors 00013 * Description: 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Jan Fischer, email:jan.fischer@ipa.fhg.de 00018 * Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de 00019 * 00020 * Date of creation: Mai 2008 00021 * ToDo: 00022 * 00023 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00024 * 00025 * Redistribution and use in source and binary forms, with or without 00026 * modification, are permitted provided that the following conditions are met: 00027 * 00028 * * Redistributions of source code must retain the above copyright 00029 * notice, this list of conditions and the following disclaimer. 00030 * * Redistributions in binary form must reproduce the above copyright 00031 * notice, this list of conditions and the following disclaimer in the 00032 * documentation and/or other materials provided with the distribution. 00033 * * Neither the name of the Fraunhofer Institute for Manufacturing 00034 * Engineering and Automation (IPA) nor the names of its 00035 * contributors may be used to endorse or promote products derived from 00036 * this software without specific prior written permission. 00037 * 00038 * This program is free software: you can redistribute it and/or modify 00039 * it under the terms of the GNU Lesser General Public License LGPL as 00040 * published by the Free Software Foundation, either version 3 of the 00041 * License, or (at your option) any later version. 00042 * 00043 * This program is distributed in the hope that it will be useful, 00044 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00045 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00046 * GNU Lesser General Public License LGPL for more details. 00047 * 00048 * You should have received a copy of the GNU Lesser General Public 00049 * License LGPL along with this program. 00050 * If not, see <http://www.gnu.org/licenses/>. 00051 * 00052 ****************************************************************/ 00053 00054 #include "../include/cob_camera_sensors/StdAfx.h" 00055 00056 #ifdef __LINUX__ 00057 #include "cob_camera_sensors/AbstractRangeImagingSensor.h" 00058 #include "cob_vision_utils/GlobalDefines.h" 00059 #else 00060 #include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractRangeImagingSensor.h" 00061 #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/GlobalDefines.h" 00062 #endif 00063 00064 using namespace ipa_CameraSensors; 00065 00066 AbstractRangeImagingSensor::~AbstractRangeImagingSensor() 00067 { 00068 } 00069 00070 unsigned long AbstractRangeImagingSensor::SetIntrinsics(cv::Mat& intrinsicMatrix, 00071 cv::Mat& undistortMapX, cv::Mat& undistortMapY) 00072 { 00073 m_intrinsicMatrix = intrinsicMatrix.clone(); 00074 m_undistortMapX = undistortMapX.clone(); 00075 m_undistortMapY = undistortMapY.clone(); 00076 00077 return RET_OK; 00078 } 00079 00080 unsigned long AbstractRangeImagingSensor::SetPathToImages(std::string path) 00081 { 00082 return ipa_Utils::RET_OK; 00083 };