polygon_height_alm.h

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#ifndef ed_sensor_integration_kinect_polygon_height_alm_h_
#define ed_sensor_integration_kinect_polygon_height_alm_h_
 
#include "ed_sensor_integration/kinect/almodules/rgbd_al_module.h"
 
#include <ros/publisher.h>
 
namespace edKinect
{
 
class PolygonHeightALM : public edKinect::RGBDALModule
{
 
public:
 
    PolygonHeightALM();
 
    void process(const ed::RGBDData& rgbd_data,
                 ed::PointCloudMaskPtr& not_associated_mask,
                 const ed::WorldModel& world_model,
                 ed::UpdateRequest& req);
 
    void configure(tue::Configuration config);
 
protected:
 
    double tolerance_;
    int min_cluster_size_;
    float max_range_;
 
};
 
}
 
#endif