Task.hpp

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

#ifndef DENSE_STEREO_TASK_TASK_HPP
#define DENSE_STEREO_TASK_TASK_HPP

#include <stddef.h>
#include <opencv/cv.h>
#include <base/samples/Frame.hpp>
#include <frame_helper/CalibrationCv.h>
#include <frame_helper/FrameHelper.h>

#include "stereo/TaskBase.hpp"

namespace stereo {

    class StereoFeatures;
    class DenseStereo;

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
    //Instance for the input ports
    RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> leftFrame, rightFrame;
        DenseStereo *dense_stereo;
        stereo::StereoFeatures *sparse_stereo;

        base::samples::frame::Frame leftFrameTarget, rightFrameTarget;
        frame_helper::FrameHelper leftConv, rightConv;
        bool leftFrameValid, rightFrameValid;
        cv::Size imageSize;
      double imageScalingFactor;
        frame_helper::StereoCalibration calibration;

        void initCalibration( cv::Size imageSize );
        void denseStereo( const cv::Mat& leftImage, const cv::Mat& rightImage );
        void sparseStereo( const cv::Mat& leftImage, const cv::Mat& rightImage );
      
        class SparseDebugImpl;
        SparseDebugImpl *sparseDebug;

    public:
        Task(std::string const& name = "stereo::Task");
        Task(std::string const& name, RTT::ExecutionEngine* engine);

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif