camera_following_camera.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef RVE_COMMON_TRANSFORMERS_CAMERA_FOLLOWING_CAMERA_H
#define RVE_COMMON_TRANSFORMERS_CAMERA_FOLLOWING_CAMERA_H

#include <sensor_msgs/CameraInfo.h>

#include <rve_transformer/camera_transformer.h>
#include <rve_render_client/forwards.h>

#include <ros/message_forward.h>

#include <Eigen/Geometry>

namespace rve_msgs
{
ROS_DECLARE_MESSAGE(MouseEvent);
}

namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(Pose);
}

namespace rve_common_transformers
{

class CameraFollowingCamera : public rve_transformer::CameraTransformer
{
public:
  CameraFollowingCamera();
  ~CameraFollowingCamera();

private:
  virtual void onInit();
  virtual void onUpdate();
  virtual void onCameraSet();

  void cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& camera_info);

  void updateCamera();

  std::string target_frame_;

  Eigen::Quaternionf orientation_;
  Eigen::Vector3f position_;

  rve_render_client::CameraInfoProjectionFactoryPtr camera_projection_;

//  boost::mutex caminfo_mutex_;
  bool camera_info_changed_;
  sensor_msgs::CameraInfoConstPtr camera_info_;
};
typedef boost::shared_ptr<CameraFollowingCamera> CameraFollowingCameraPtr;

}

#endif // RVE_COMMON_TRANSFORMERS_CAMERA_FOLLOWING_CAMERA_H