DepthImage2Pointcloud.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef IMAGE_PREPROCESSING_DEPTHIMAGE2POINTCLOUD_TASK_HPP
#define IMAGE_PREPROCESSING_DEPTHIMAGE2POINTCLOUD_TASK_HPP

#include "image_preprocessing/DepthImage2PointcloudBase.hpp"

namespace image_preprocessing {

    class DepthImage2Pointcloud : public DepthImage2PointcloudBase
    {
        friend class DepthImage2PointcloudBase;
    protected:
        ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > color_frame;

        virtual void color_frameCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &color_frame_sample);

        virtual void frameCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::DistanceImage > &frame_sample);

    public:
        DepthImage2Pointcloud(std::string const& name = "image_preprocessing::DepthImage2Pointcloud");

        DepthImage2Pointcloud(std::string const& name, RTT::ExecutionEngine* engine);

        ~DepthImage2Pointcloud();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif