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CamCalibModule.h
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1// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2
3/*
4 * Copyright (C) 2007 Jonas Ruesch
5 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
6 *
7 */
8
9#ifndef __CAMCALIBMODULE__
10#define __CAMCALIBMODULE__
11
12 // std
13#include <stdio.h>
14
15// opencv
16#include <opencv2/core/core_c.h>
17
18// yarp
19#include <yarp/os/all.h>
20#include <yarp/sig/all.h>
21
22// iCub
23#include <iCub/PinholeCalibTool.h>
24#include <iCub/SphericalCalibTool.h>
25#include <iCub/CalibToolFactory.h>
26#include <iCub/ICalibTool.h>
27
33class CamCalibPort : public yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> >
34{
35private:
36 yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > *portImgOut;
37 ICalibTool *calibTool;
38
39 bool verbose;
40 double t0;
41 double currSat;
42
43 virtual void onRead(yarp::sig::ImageOf<yarp::sig::PixelRgb> &yrpImgIn);
44
45public:
47
48 void setSaturation(double satVal);
49 void setPointers(yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > *_portImgOut, ICalibTool *_calibTool);
50 void setVerbose(const bool sw) { verbose=sw; }
51};
52
53
61class CamCalibModule : public yarp::os::RFModule {
62
63private:
64
65 CamCalibPort _prtImgIn;
66 yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > _prtImgOut;
67 yarp::os::Port _configPort;
68
69 ICalibTool * _calibTool;
70
71public:
72
75
77 virtual bool configure(yarp::os::ResourceFinder &rf);
78 virtual bool close();
79 virtual bool interruptModule();
80 virtual bool updateModule();
81 virtual bool respond(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
82 virtual double getPeriod();
83
84};
85
86
87#endif
Camera Calibration Module class.
virtual bool interruptModule()
virtual bool respond(const yarp::os::Bottle &command, yarp::os::Bottle &reply)
virtual bool configure(yarp::os::ResourceFinder &rf)
Passes config on to CalibTool.
virtual bool updateModule()
virtual double getPeriod()
virtual bool close()
Camera Calibration Port class.
void setSaturation(double satVal)
void setVerbose(const bool sw)
void setPointers(yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > > *_portImgOut, ICalibTool *_calibTool)
Interface to calibrate and project input image based on camera's internal parameters and projection m...
Definition ICalibTool.h:19