Transform.h

/*
 * Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_TRANSFORM_H
#define ROBOTSIO_TRANSFORM_H
 
#include <RobotsIO/Utils/DataStream.h>
 
#include <opencv2/opencv.hpp>
 
#include <Eigen/Dense>
 
namespace RobotsIO {
    namespace Utils {
        class Transform;
    }
}
 
 
class RobotsIO::Utils::Transform : public RobotsIO::Utils::DataStream
{
public:
    virtual ~Transform();
 
    virtual Eigen::Transform<double, 3, Eigen::Affine> transform() = 0;
 
    virtual Eigen::MatrixXd bounding_box();
 
    virtual int get_frames_between_iterations() const;
 
    virtual void set_rgb_image(const cv::Mat& image);
 
    virtual void set_depth_segmentation_image(const Eigen::MatrixXf& depth, const cv::Mat& segmentation);
 
    virtual bool transform_received();
};
 
#endif /* ROBOTSIO_TRANSFORM_H */