Program Listing for File camera2d.hpp

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/*
 * Copyright (C) 2023 Michael Ferguson
 * Copyright (C) 2013-2014 Unbounded Robotics Inc.
 *
 * 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.
 */

// Author: Michael Ferguson

#ifndef ROBOT_CALIBRATION_MODELS_CAMERA2D_H
#define ROBOT_CALIBRATION_MODELS_CAMERA2D_H

#include <robot_calibration/models/chain3d.hpp>
#include <robot_calibration/util/camera_info.hpp>

namespace robot_calibration
{

class Camera2dModel : public Chain3dModel
{
public:
  Camera2dModel(const std::string& name, const std::string& param_name, KDL::Tree model, std::string root, std::string tip);
  virtual ~Camera2dModel() {}

  virtual std::vector<geometry_msgs::msg::PointStamped> project(
    const robot_calibration_msgs::msg::CalibrationData& data,
    const OptimizationOffsets& offsets);

  virtual std::vector<geometry_msgs::msg::PointStamped> project_pixel_error(
    const robot_calibration_msgs::msg::CalibrationData& data,
    const std::vector<geometry_msgs::msg::PointStamped>& points,
    const OptimizationOffsets& offsets);

  virtual std::string getType() const;

protected:
  std::string param_name_;
};

}  // namespace robot_calibration

#endif  // ROBOT_CALIBRATION_MODELS_CAMERA2D_H