ColorizePointcloudMultiCam.hpp

Go to the documentation of this file.

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

#ifndef PROJECTION_COLORIZEPOINTCLOUDMULTICAM_TASK_HPP
#define PROJECTION_COLORIZEPOINTCLOUDMULTICAM_TASK_HPP

#include "projection/ColorizePointcloudMultiCamBase.hpp"
#include <frame_helper/FrameHelper.h>

namespace projection {

    class ColorizePointcloudMultiCam : public ColorizePointcloudMultiCamBase
    {
        friend class ColorizePointcloudMultiCamBase;
    protected:
        bool hasImage1;
        bool hasImage2;
        frame_helper::FrameHelper frameHelper;
        base::samples::Pointcloud points;
        base::samples::frame::Frame frame1;
        base::samples::frame::Frame frame2;

            void colorizePointCloud(::base::samples::Pointcloud &pointsCloud, base::samples::frame::Frame &image, const Eigen::Matrix4d &points2Cam, base::samples::frame::Frame &image2, const Eigen::Matrix4d &points2Cam2);

        virtual void camera1Callback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &camera1_sample);

        virtual void camera2Callback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &camera2_sample);

        virtual void pointsCallback(const base::Time &ts, const ::base::samples::Pointcloud &points_sample);

    public:
        ColorizePointcloudMultiCam(std::string const& name = "projection::ColorizePointcloudMultiCam");

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

        ~ColorizePointcloudMultiCam();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif