association.h

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#ifndef ED_SENSOR_INTEGRATION_KINECT_ASSOCATION_L_H_
#define ED_SENSOR_INTEGRATION_KINECT_ASSOCATION_L_H_
 
#include <vector>
#include <ed/types.h>
#include <rgbd/types.h>
#include <geolib/datatypes.h>
 
class EntityUpdate;
 
void associateAndUpdate(const std::vector<ed::EntityConstPtr>& entities, const rgbd::ImageConstPtr& image, const geo::Pose3D& sensor_pose,
                        std::vector<EntityUpdate>& clusters, ed::UpdateRequest& req);
 
#endif