RSB iceWing Plugins

#pragma once

#include "gui/Grender.h"

#include "main/plugin_cxx.h"

#include <rsb/Factory.h>

#include <rsb/Informer.h>

#include <rsb/Scope.h>

namespace rsbrstdepthimageexport {

/**

 * A plugin which is able to convert depth images to rst and export rst::vision::SimpleXYZImages messages.

 *

 * @author nkroemke

 */

class RsbRstDepthImageExportPlugin: public ICEWING::Plugin {

public:

    RsbRstDepthImageExportPlugin(char *name);

    ~RsbRstDepthImageExportPlugin();

    void Init(grabParameter *para, int argc, char **argv);

    int InitOptions();

    bool Process(char *ident, plugData *data);

private:

    std::string imgIdent;

    std::string outIdent;        

    void help();

    iwImage *imgInput;

    iwImage *imgColor;

    rsb::Scope scope;

    rsb::Factory &factory;

    rsb::Informer<rsb::AnyType>::Ptr informer;

};

}