rgbd_al_module.h

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#ifndef ed_sensor_integration_kinect_rgbd_al_module_h_
#define ed_sensor_integration_kinect_rgbd_al_module_h_
 
#include <ed/types.h>
#include <ed/rgbd_data.h>
#include <ed/uuid.h>
 
#include <tue/config/configuration.h>
 
#include <ros/node_handle.h>
#include <visualization_msgs/Marker.h>
#include <ros/publisher.h>
 
#include <tue/profiling/profiler.h>
#include <tue/profiling/ros/profile_publisher.h>
 
namespace edKinect
{
 
class RGBDALModule
{
 
public:
 
    RGBDALModule(const ed::TYPE& type) :
        type_(type)
    {
        ros::NodeHandle nh("~/" + type_);
        vis_marker_pub_ = nh.advertise<visualization_msgs::Marker>("vis_markers",0);
 
        // Initialize profiler
        profiler_.setName(type_);
        pub_profile_.initialize(profiler_);
    }
 
    virtual void process(const ed::RGBDData& rgbd_data,
                         ed::PointCloudMaskPtr& not_associated_mask,
                         const ed::WorldModel& world_model,
                         ed::UpdateRequest& req) = 0;
 
    virtual void configure(tue::Configuration config) = 0;
 
    const ed::TYPE& getType() { return type_; }
 
protected:
    ed::TYPE type_;
    ros::Publisher vis_marker_pub_;
    bool visualize_;
 
    tue::Profiler profiler_;
    tue::ProfilePublisher pub_profile_;
 
};
 
typedef boost::shared_ptr<RGBDALModule> RGBDALModulePtr;
typedef boost::shared_ptr<const RGBDALModule> RGBDALModuleConstPtr;
 
}
 
#endif