Camera Class Reference

Camera Sensor Class. More...

#include <camera.hpp>

Inheritance diagram for Camera:

Collaboration diagram for Camera:

Classes
struct	Parameters
	Camera initialization parameters structure. More...

Public Types
typedef Camera::Parameters	Parameters
	Camera initialization parameters structure.
Public Types inherited from Sensor
typedef struct Sensor::Parameters	Parameters
	Sensor parameter structure.

Public Member Functions
	Camera (Camera::Parameters cam_params)
	Camera sensor constructor. More...
void	AddTracker (std::shared_ptr< FeatureTracker > tracker)
	Method to add tracker object to camera sensor. More...
void	AddFiducial (std::shared_ptr< FiducialTracker > fiducial)
	Method to add fiducial object to camera sensor. More...
void	Callback (const CameraMessage &camera_message)
	Callback method for camera. More...
Public Member Functions inherited from Sensor
	Sensor (Parameters params)
	Sensor class constructor. More...
unsigned int	GetId () const
	Sensor ID getter method. More...
std::string	GetName () const
	Sensor name getter method. More...
void	Callback (const SensorMessage sensor_message) const
	Sensor callback function. More...

Public Attributes
cv::Mat	m_out_img {0, 0, CV_8UC1}
	Published output test image.

Static Protected Member Functions
static unsigned int	GenerateFrameID ()

Protected Attributes
std::shared_ptr< EKF >	m_ekf
	EKF to update.
Protected Attributes inherited from Sensor
double	m_rate
	Sensor measurement rate.
unsigned int	m_id
	Sensor id.
std::string	m_name
	Sensor name.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.
bool	m_is_initialized {false}
	Sensor initialization flag.

Detailed Description

Camera Sensor Class.

Constructor & Destructor Documentation

Camera()

Camera::Camera ( Camera::Parameters  cam_params )

explicit

Camera sensor constructor.

Parameters

cam_params

Parameter struct for camera sensor

Todo:

add detector/extractor parameters to input

Member Function Documentation

AddFiducial()

void Camera::AddFiducial

(

std::shared_ptr< FiducialTracker >

fiducial

)

Method to add fiducial object to camera sensor.

Parameters

fiducial

Fiducial pointer for camera to use during callbacks

AddTracker()

void Camera::AddTracker

(

std::shared_ptr< FeatureTracker >

tracker

)

Method to add tracker object to camera sensor.

Parameters

tracker

Tracker pointer for camera to use during callbacks

Callback()

void Camera::Callback

(

const CameraMessage &

camera_message

)

Callback method for camera.

Parameters

camera_message

camera message

Todo:

Undistort points post track?

GenerateFrameID()

unsigned int Camera::GenerateFrameID ( )

staticprotected

Todo:

apply similar function to sensor/tracker IDs

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The documentation for this class was generated from the following files:

• src/sensors/camera.hpp
• src/sensors/camera.cpp