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VoxelOccupancyDetection.hpp
1// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2
3#ifndef __VOXEL_OCCUPANCY_DETECTION_HPP__
4#define __VOXEL_OCCUPANCY_DETECTION_HPP__
5
6#include "SegmentorThread.hpp"
7
8#define DEFAULT_CROP_SELECTOR 0 // 1=true
9#define DEFAULT_RGBD_DEVICE "RGBDSensorClient"
10#define DEFAULT_RGBD_LOCAL "/voxelOccupancyDetection"
11#define DEFAULT_RGBD_REMOTE "/xtion"
12#define DEFAULT_WATCHDOG 2 // [s]
13
14
15namespace roboticslab
16{
17
23class VoxelOccupancyDetection : public yarp::os::RFModule {
24 private:
25 SegmentorThread segmentorThread;
26 //
27 yarp::dev::PolyDriver dd;
28 yarp::dev::IRGBDSensor *iRGBDSensor;
29
30 yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono16> > outImg;
31 yarp::os::Port outPort;
32
33 int cropSelector;
34 yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > outCropSelectorImg;
35 yarp::os::Port inCropSelectorPort;
36
37 bool interruptModule();
38 double getPeriod();
39 bool updateModule();
40 double watchdog;
41
42 public:
43 bool configure(yarp::os::ResourceFinder &rf);
44};
45
46} // namespace roboticslab
47
48#endif // __VOXEL_OCCUPANCY_DETECTION_HPP__
49
Implements voxelOccupancyDetection PeriodicThread.
Definition SegmentorThread.hpp:109
Computer Vision 1.
Definition VoxelOccupancyDetection.hpp:23
The main, catch-all namespace for Robotics Lab UC3M.
Definition groups.dox:5