VoxelOccupancyDetection.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __VOXEL_OCCUPANCY_DETECTION_HPP__
#define __VOXEL_OCCUPANCY_DETECTION_HPP__
 
#include "SegmentorThread.hpp"
 
#define DEFAULT_CROP_SELECTOR 0  // 1=true
#define DEFAULT_RGBD_DEVICE "RGBDSensorClient"
#define DEFAULT_RGBD_LOCAL "/voxelOccupancyDetection"
#define DEFAULT_RGBD_REMOTE "/xtion"
#define DEFAULT_WATCHDOG    2       // [s]
 
 
namespace roboticslab
{
 
class VoxelOccupancyDetection : public yarp::os::RFModule {
  private:
    SegmentorThread segmentorThread;
    //
    yarp::dev::PolyDriver dd;
    yarp::dev::IRGBDSensor *iRGBDSensor;
 
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono16> > outImg;
    yarp::os::Port outPort;
 
    int cropSelector;
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > outCropSelectorImg;
    yarp::os::Port inCropSelectorPort;
 
    bool interruptModule();
    double getPeriod();
    bool updateModule();
    double watchdog;
 
  public:
    bool configure(yarp::os::ResourceFinder &rf);
};
 
}  // namespace roboticslab
 
#endif  // __VOXEL_OCCUPANCY_DETECTION_HPP__