rgbd_seg_module.h

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#ifndef ed_sensor_integration_kinect_rgbd_seg_module_h_
#define ed_sensor_integration_kinect_rgbd_seg_module_h_
 
#include <ed/types.h>
#include <ed/rgbd_data.h>
#include <tue/config/configuration.h>
 
#include <ros/node_handle.h>
#include <ros/publisher.h>
 
#include <visualization_msgs/Marker.h>
 
#include <vector>
 
namespace edKinect
{
 
class RGBDSegModule
{
 
public:
 
    RGBDSegModule(const ed::TYPE& type) : type_(type)
    {
        ros::NodeHandle nh("~/" + type_);
        vis_marker_pub_ = nh.advertise<visualization_msgs::Marker>("vis_markers",0);
    }
 
    virtual void process(const ed::RGBDData& rgbd_data, std::vector<ed::PointCloudMaskPtr>& segments) = 0;
 
    virtual void configure(tue::Configuration config) = 0;
 
protected:
 
    ed::TYPE type_;
 
    ros::Publisher vis_marker_pub_;
    bool visualize_;
 
};
 
}
 
#endif