observation_scene.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef OBSERVATION_SCENE_H_
#define OBSERVATION_SCENE_H_

#include <industrial_extrinsic_cal/basic_types.h>
#include <industrial_extrinsic_cal/camera_definition.h>
#include <ros/console.h>
#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>

namespace industrial_extrinsic_cal
{

class ObservationScene
{
public:
  ObservationScene(Trigger trig, int scene_id) :
      trig_(trig), scene_id_(scene_id)
  {
  }
  ;

  ObservationScene()
  {
    observation_command_list_.clear();
    cameras_in_scene_.clear();
  }
  ;

  void clear();

  void addObservationToScene(ObservationCmd observation_command);
  void addCameraToScene(boost::shared_ptr<Camera> cameras_in_scene);

  void populateObsCmdList(boost::shared_ptr<Camera> camera, boost::shared_ptr<Target> target, Roi roi);
  int get_id()
  {
    return (scene_id_);
  }
  ;

  Trigger get_trigger()
  {
    return (trig_);
  }
  ;
  void setSceneId(int sceneId)
  {
    scene_id_ = sceneId;
  };
  void setTrig(const Trigger& trig)
  {
    trig_ = trig;
  };

  std::vector<ObservationCmd> observation_command_list_; 
  std::vector<boost::shared_ptr<Camera> > cameras_in_scene_; 
private:
  Trigger trig_; 
  int scene_id_; 
};
// end of class ObservationScene

}//end namespace industrial_extrinsic_cal

#endif /* OBSERVATION_SCENE_H_ */