camera_interface.h

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#ifndef _RAPID_ROBOT_CAMERA_INTERFACE_H_
#define _RAPID_ROBOT_CAMERA_INTERFACE_H_

#include "geometry_msgs/TransformStamped.h"
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"

namespace rapid {
class PointCloudCameraInterface {
 public:
  virtual ~PointCloudCameraInterface() {}

  virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud() const = 0;

  virtual geometry_msgs::TransformStamped camera_pose() const = 0;
};
}  // namespace rapid

#endif  // _RAPID_ROBOT_CAMERA_INTERFACE_H_