ColorizePointcloud.hpp

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

#ifndef PROJECTION_COLORIZEPOINTCLOUD_TASK_HPP
#define PROJECTION_COLORIZEPOINTCLOUD_TASK_HPP

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

namespace projection {

    class ColorizePointcloud : public ColorizePointcloudBase
    {
        friend class ColorizePointcloudBase;
    protected:

        bool hasImage;
        frame_helper::FrameHelper frameHelper;
        base::samples::Pointcloud points;
        base::samples::frame::Frame frame;

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

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

        void colorizePointCloud(base::samples::Pointcloud& pointsCloud, base::samples::frame::Frame& image, const Eigen::Matrix4d& points2Cam);
        
    public:
        ColorizePointcloud(std::string const& name = "projection::ColorizePointcloud");

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

        ~ColorizePointcloud();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif