remove return_in_cam_frame flag

Author: nickcharron

beam_colorize/include/beam_colorize/Colorizer.h

@@ -91,21 +91,18 @@ class Colorizer {
   void SetDistortion(const bool& image_distored);
 
   /**
-   * @brief Pure virtual method for colorizing a point cloud
-   * @param return_in_cam_frame set to false to return the cloud in its original
-   * frame. Internally, when a cloud is added it's converted to the camera
-   * frame, so here when we return the pointcloud it can be in either frame.
+   * @brief Pure virtual method for colorizing a point cloud.
    * @return Colored point cloud pointer
    */
-  virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr
-      ColorizePointCloud(bool return_in_cam_frame = false) const = 0;
+  virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr ColorizePointCloud() const = 0;
 
   /**
-   * @brief Pure virtual method for colorizing a point cloud
+   * @brief Pure virtual method for colorizing a point cloud. Returned point
+   * cloud will be in camera frame
    * @return Colored point cloud pointer
    */
   virtual pcl::PointCloud<beam_containers::PointBridge>::Ptr
-      ColorizeMask(bool return_in_cam_frame = false) const = 0;
+      ColorizeMask() const = 0;
 
 protected:
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr GetCloudInLidarFrame(

beam_colorize/include/beam_colorize/Projection.h

@@ -20,14 +20,10 @@ class Projection : public Colorizer {
   ~Projection() override = default;
 
   /**
-   * @brief Method for colorizing a point cloud
-   * @param return_in_cam_frame set to false to return the cloud in its original
-   * frame. Internally, when a cloud is added it's converted to the camera
-   * frame, so here when we return the pointcloud it can be in either frame.
-   * @return Colored point cloud pointer
+   * @brief see Colorizer.h
    */
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr
-      ColorizePointCloud(bool return_in_cam_frame = false) const override;
+      ColorizePointCloud() const override;
 
   /**
    * @brief see Colorizer.h

beam_colorize/include/beam_colorize/RayTrace.h

@@ -26,20 +26,15 @@ class RayTrace : public Colorizer {
   ~RayTrace() = default;
 
   /**
-   * @brief Method for colorizing a point cloud
-   * @param return_in_cam_frame set to false to return the cloud in its original
-   * frame. Internally, when a cloud is added it's converted to the camera
-   * frame, so here when we return the pointcloud it can be in either frame.
-   * @return Colored point cloud pointer
+   * @brief see Colorizer.h
    */
-  pcl::PointCloud<pcl::PointXYZRGB>::Ptr
-      ColorizePointCloud(bool return_in_cam_frame = false) const override;
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr ColorizePointCloud() const override;
 
   /**
    * @brief see Colorizer.h
    */
   virtual pcl::PointCloud<beam_containers::PointBridge>::Ptr
-      ColorizeMask(bool return_in_cam_frame = false) const override;
+      ColorizeMask() const override;
 
 private:
   /**

beam_colorize/src/Projection.cpp

@@ -7,8 +7,7 @@ namespace beam_colorize {
 
 Projection::Projection() : Colorizer() {}
 
-pcl::PointCloud<pcl::PointXYZRGB>::Ptr
-    Projection::ColorizePointCloud(bool return_in_cam_frame) const {
+pcl::PointCloud<pcl::PointXYZRGB>::Ptr Projection::ColorizePointCloud() const {
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_colored(
       new pcl::PointCloud<pcl::PointXYZRGB>);
   pcl::copyPointCloud(*cloud_in_camera_frame_, *cloud_colored);
@@ -56,7 +55,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr
 }
 
 pcl::PointCloud<beam_containers::PointBridge>::Ptr
-    Projection::ColorizeMask(bool return_in_cam_frame) const {
+    Projection::ColorizeMask() const {
   pcl::PointCloud<beam_containers::PointBridge>::Ptr defect_cloud(
       new pcl::PointCloud<beam_containers::PointBridge>);
 

beam_colorize/src/RayTrace.cpp

@@ -18,7 +18,7 @@ void HitBehaviour(std::shared_ptr<cv::Mat> image,
 RayTrace::RayTrace() : Colorizer() {}
 
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr
-    RayTrace::ColorizePointCloud(bool return_in_cam_frame) const {
+    RayTrace::ColorizePointCloud() const {
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_colored =
       std::make_shared<pcl::PointCloud<pcl::PointXYZRGB>>();
 
@@ -75,7 +75,7 @@ std::tuple<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, std::vector<int>>
 }
 
 pcl::PointCloud<beam_containers::PointBridge>::Ptr
-    RayTrace::ColorizeMask(bool return_in_cam_frame) const {
+    RayTrace::ColorizeMask() const {
   pcl::PointCloud<beam_containers::PointBridge>::Ptr return_cloud;
   pcl::copyPointCloud(*cloud_in_camera_frame_, *return_cloud);