CParam.h

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/*
 *  IAV Team
 *  http://www.iav.com
 *
 */


#ifndef CPARAM
#define CPARAM

#include <stdlib.h>
#include <sstream>
#include <math.h>
#include <limits.h>

#include <tf/transform_broadcaster.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include "../include/LSParam.h"

namespace iav_depthimage_to_laserscan
{

  /*
  * These Class contains all the parameters of the camera(s), that must to be initialized. 
  * 
  * Furthermore had the method init_parameter, that is used to stablish the geometrical limits of the image through
  * a max and min height.
  *
  * The class had methods and some parameters for the frames of every camera, from the creation to the
  * updating of a frame. 
  */
  class CParam
  {
  public:

          CParam();
          ~CParam();

          void init_parameter(CParam& Param, LSParam& laserParam, float height_max, float height_min);

          void createTF(std::string header, std::string child);

          // Camera Variables
          double cam_AOV_h;    // Horizontal angle of view
          double cam_AOV_v;    // Vertical angle of view
          double cam_yaw;      // Yaw is positive leftwards. 
          double cam_pitch;    // Pitch is positive downward. 
          double cam_offset;   // Offset (short distance) between camera and laser

          int cam_image_width; // Image width
          int cam_image_height; // Image height
          int* cam_index; // Index for the correct depth points (pre calculated)
          double cam_focal_length_x; // Focal length in x
          double cam_focal_length_y; // Focal length in y
          std::string cam_frame_id; // Camera header.frame_id

          // Auxiliaries to limit the "angle of view" of the laser
          float* cam_max_distances; // Max. distances limits within the area bounded by height_max and height_min
          float* cam_min_distances; // Min. distances limits within the area bounded by height_max and height_min
          float* cam_cos_h; // Calculating a cosine for each point in horizontal
          float* cam_cos_v; // Calculating a cosine for each point in vertical  
          float* cam_sin_v; // Calculating a sine for each point in vertical

          geometry_msgs::TransformStamped* m_tf; //< Contains the TF

  };

}; //iav_depthimage_to_laserscan

#endif