VirtualView.hpp

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

#ifndef PROJECTION_VIRTUALVIEW_TASK_HPP
#define PROJECTION_VIRTUALVIEW_TASK_HPP

#include "projection/VirtualViewBase.hpp"
#include <projection/Homography.hpp>
#include <frame_helper/FrameHelper.h>
#include <set>

namespace projection {

    class VirtualView : public VirtualViewBase
    {
        friend class VirtualViewBase;
    protected:
        projection::Homography hom;
        RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> viewFrame;
        base::samples::frame::Frame tmpFrame;
        frame_helper::FrameHelper frameHelper;
        std::set<int> addedCams;
        base::Time last_sample_ts;

        void checkComplete();

        void addCam( const base::Affine3d& cam2body, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame >& frame, int id ); 


        virtual void cam1TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam1_sample);

        virtual void cam2TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam2_sample);

        virtual void cam3TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam3_sample);

        virtual void cam4TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam4_sample);

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

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

        ~VirtualView();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif