camera.h

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#ifndef INCLUDE_TINYURDF_CORE_CAMERA_H_
#define INCLUDE_TINYURDF_CORE_CAMERA_H_
 
// Copyright 2024 Wissem CHIHA
 
#include "common/sensor_base.h"
#include "core/image.h"
#include "core/pose.h"
 
class Camera : public SensorBase<Image<double, 4>>
{
 public:
  enum class Type
  {
    L8,
    R8G8B8,
    B8G8R8,
    BAYER_RGGB8,
    BAYER_BGGR8,
    BAYER_GBRG8,
    BAYER_GRBG8
  };
  Camera();
  Camera(const Camera& rhs);
  void reset() override;
  void update() override;
  void getOrigin(double* xyz) const override;
  void setType(Type t_);
  void setType(const char* c);
  void setHfov(double hfov_);
  void setNear(double near_);
  void setFar(double far_);
  void setUpdateRate(double ur) override;
  void getUpdateRate(double& ur) const override;
  void setOrigin(std::shared_ptr<Pose> o) override;
  const char* getTypename() const override;
  bool empty() const override;
  bool isA(const char* name) const override;
  void clear() override;
  void getRange(Image<double, 4>& r) override;
  void setRange(Image<double, 4>& r) override;
  void get(Image<double, 4>& o) const override;
  void set(const std::shared_ptr<Image<double, 4>> mat);
  std::string toString() const override;
 
 private:
  Type type;
  std::shared_ptr<Pose> origin;
  std::shared_ptr<Image<double, 4>> mat;
  double hfov, near, far, update_rate;
};
#endif  // INCLUDE_TINYURDF_CORE_CAMERA_H_