text: #ifndef LEPP_OBSTACLES_SEGMENTER_SEGMENTER_H
  #define LEPP_OBSTACLES_SEGMENTER_SEGMENTER_H
  
  #include "lepp3/FrameData.hpp"
  
  namespace lepp {
  
  class ObstacleSegmenter : public FrameDataObserver, public FrameDataSubject {
  public:
    virtual void updateFrame(FrameDataPtr frameData) override;
  
  private:
    virtual std::vector<ObjectModelParams> extractObstacleParams(PointCloudConstPtr cloud) = 0;
  };
  
  }
  
  #endif
  