floodfill_sm.h

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#ifndef ed_sensor_integration_kinect_floodfill_sm_h_
#define ed_sensor_integration_kinect_floodfill_sm_h_
 
#include "ed_sensor_integration/kinect/segmodules/rgbd_seg_module.h"
 
#include <opencv2/core/core.hpp>
 
namespace ed
{
 
class FloodfillSM : public edKinect::RGBDSegModule
{
 
public:
 
    FloodfillSM();
 
    void process(const RGBDData& rgbd_data, std::vector<PointCloudMaskPtr>& segments);
 
private:
 
    void findBlobs(cv::Mat& depth_image, const ImageMask& mask, std::vector<ImageMask>& blobs);
    bool findBlob(cv::Mat& depth_image, const cv::Mat& mask, cv::Point p, int label, ImageMask& blob);
 
 
};
 
}
 
#endif