halcon_pointcloud.h

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#include <sensor_msgs/PointCloud2.h>
#include <halconcpp/HalconCpp.h>
#include <stdexcept>

namespace halcon_bridge {




    class HalconPointcloud;

    typedef boost::shared_ptr<HalconPointcloud> HalconPointcloudPtr;

    class HalconPointcloud {
        public:
            std_msgs::Header header;
            HalconCpp::HTuple curvature;
            HalconCpp::HObjectModel3D *model;

            ~HalconPointcloud();

            sensor_msgs::PointCloud2Ptr toPointcloudMsg() const;


            void toPointcloudMsg(sensor_msgs::PointCloud2& ros_pointcloud) const;
    };


    HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2ConstPtr& source);


    HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2& source);



}