laser_cb_detector.h

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#ifndef LASER_CB_DETECTOR_LASER_CB_DETECTOR_H_
#define LASER_CB_DETECTOR_LASER_CB_DETECTOR_H_

#include <opencv/cv.h>
#include <calibration_msgs/DenseLaserSnapshot.h>
#include <laser_cb_detector/ConfigAction.h>
#include <laser_cb_detector/cv_laser_bridge.h>
#include <image_cb_detector/image_cb_detector.h>
#include <calibration_msgs/CalibrationPattern.h>
#include <sensor_msgs/Image.h>

namespace laser_cb_detector
{

class LaserCbDetector
{
public:
  LaserCbDetector();

  bool configure(const ConfigGoal& config);

  bool detect(const calibration_msgs::DenseLaserSnapshot& snapshot,
              calibration_msgs::CalibrationPattern& result);

  bool getImage(const calibration_msgs::DenseLaserSnapshot& snapshot, sensor_msgs::Image& ros_image);

private:
  bool configured_;
  ConfigGoal config_;
  CvLaserBridge bridge_;
  image_cb_detector::ImageCbDetector detector_;
};

}

#endif