world_model_renderer.h

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#ifndef _world_model_renderer_H_
#define _world_model_renderer_H_
 
#include <ed/types.h>
#include <geolib/sensors/DepthCamera.h>
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
 
#include <rgbd/view.h>
 
#include <vector>
 
namespace ed
{
    class RGBDData;
}
 
namespace edKinect
{
 
class WorldModelRenderer
{
 
public:
 
    WorldModelRenderer();
 
    virtual ~WorldModelRenderer();
 
    void render(const ed::RGBDData& sensor_data,
                const ed::WorldModel& world_model,
                float max_range,
                const rgbd::View& view,
                cv::Mat& img,
                pcl::PointCloud<pcl::PointXYZ>& pc,
                std::vector<const ed::Entity*>& pc_entity_ptrs);
 
 
private:
 
    geo::DepthCamera camera_model_;
 
};
 
}
 
#endif