sam_seg_module.h

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#pragma once
 
#include <opencv2/core.hpp>
 
#include <geolib/datatypes.h>
#include <ros/publisher.h>
#include <tue/config/configuration.h>
 
#include "ed/kinect/entity_update.h"
 
#include <vector>
 
std::vector<cv::Mat> SegmentationPipeline(const cv::Mat& img, tue::Configuration& config);
 
void overlayMasksOnImage_(cv::Mat& rgb, const std::vector<cv::Mat>& masks);
 
void publishSegmentationResults(const cv::Mat& filtered_depth_image, const cv::Mat& rgb,
                                const geo::Pose3D& sensor_pose, std::vector<cv::Mat>& clustered_images,
                                ros::Publisher& mask_pub_, ros::Publisher& cloud_pub_, std::vector<EntityUpdate>& res_updates);