frame.h

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#ifndef UCL_DRONE_FRAME_H
#define UCL_DRONE_FRAME_H
#define PCL_NO_PRECOMPILE

#include <ucl_drone/ucl_drone.h>

// vision
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>

/* Point Cloud library */
#include <pcl/visualization/point_cloud_geometry_handlers.h>  // used here ?

#include <pcl/common/common_headers.h>
#include <pcl/point_types.h>                   // pcl::PointXYZRGB
#include <pcl/visualization/cloud_viewer.h>    // used here ?
#include <pcl/visualization/pcl_visualizer.h>  // used here ?
#include <pcl_conversions/pcl_conversions.h>   // pcl::fromROSMsg
#include <pcl_ros/point_cloud.h>               // pcl::PointCloud

/* Messages */
#include <sensor_msgs/image_encodings.h>

/* ucl_drone */
#include <ucl_drone/PointXYZRGBSIFT.h>
#include <ucl_drone/Pose3D.h>
#include <ucl_drone/ProcessedImageMsg.h>
// #include <ucl_drone/map/simple_map.h>

// class Map is defined in ucl_drone/map/simple_map.h
// not declared here because ucl_drone/map/frame.h (current file)
// is also included in ucl_drone/map/simple_map.h or in map_keyframe_based.h

class Frame
{
private:
public:
  Frame();

  Frame(ucl_drone::ProcessedImageMsg::ConstPtr msg);

  ~Frame();

  void convertToPcl(std::vector< int >& idx_points, std::vector< cv::Point3f > points_out,
                    int keyframe_id, pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr& pointcloud);

  void convertToPcl(std::vector< cv::Point3f > points_out, int keyframe_id,
                    pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr& pointcloud);

  // Attributes
  ucl_drone::ProcessedImageMsg msg;      
  std::vector< cv::Point2f > imgPoints;  
  ucl_drone::Pose3D pose_visual_msg;     
  cv::Mat descriptors;                   
};

#endif /* UCL_DRONE_FRAME_H */