| 39 | namespace ns_ikalibr { |
| 40 | |
| 41 | std::string CameraModel::UnsupportedCameraModelMsg(const std::string &modelStr) { |
| 42 | return fmt::format( |
| 43 | "Unsupported camera Type: '{}'. " |
| 44 | "Currently supported camera types are: \n" |
| 45 | "1. SENSOR_IMAGE_GS: " |
| 46 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html\n" |
| 47 | "2. SENSOR_IMAGE_RS_FIRST: first-row exposure, " |
| 48 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html\n" |
| 49 | "3. SENSOR_IMAGE_RS_MID: middle-row exposure, " |
| 50 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html\n" |
| 51 | "4. SENSOR_IMAGE_RS_LAST: last-row exposure, " |
| 52 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html\n" |
| 53 | "5. SENSOR_IMAGE_COMP_GS: " |
| 54 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CompressedImage.html\n" |
| 55 | "6. SENSOR_IMAGE_COMP_RS_FIRST: first-row exposure, " |
| 56 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CompressedImage.html\n" |
| 57 | "7. SENSOR_IMAGE_COMP_RS_MID: middle-row exposure, " |
| 58 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CompressedImage.html\n" |
| 59 | "8. SENSOR_IMAGE_COMP_RS_LAST: last-row exposure, " |
| 60 | "https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CompressedImage.html\n" |
| 61 | "...\n" |
| 62 | "If you need to use other camera types, " |
| 63 | "please 'Issues' us on the profile of the github repository.", |
| 64 | modelStr); |
| 65 | } |
| 66 | |
| 67 | double CameraModel::RSCameraExposureFactor(const CameraModelType &type) { |
| 68 | double exposureFactor = 0.0; |
nothing calls this directly
no outgoing calls
no test coverage detected