sensorPinhole.hpp

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#ifndef SENSORPINHOLE_HPP_
#define SENSORPINHOLE_HPP_

#include "image/Image.hpp"
#include "rtslam/rtSlam.hpp"

#include "rtslam/sensorAbstract.hpp"
#include "rtslam/gaussian.hpp"
#include "rtslam/sensorImageParameters.hpp"
#include <iostream>

namespace jafar {
  namespace rtslam {

    class SensorPinhole;
    typedef boost::shared_ptr<SensorPinhole> pinhole_ptr_t;


    class SensorPinhole: public SensorExteroAbstract {

      public:

        SensorPinhole(const robot_ptr_t & _robPtr, filtered_obj_t inFilter = UNFILTERED, int extraStateFilterSize = 0);

        ~SensorPinhole(){}

        SensorImageParameters params;

        void setup(const size_t id, const string & name, const int _width, const int _height, const vec7 & pose, const vec7 & std, const jblas::vec2 & _s, const vec4 & k, const vec & d, const vec & c);

        virtual std::string typeName() const {
          return "Pin-hole-camera";
        }

        static size_t size(void) {
          return 7;
        }

        int acquireRaw();

        raw_ptr_t getRaw() ;

    };

  }
}

#endif /* SENSORPINHOLE_HPP_ */