text: #ifndef DATAGRABBER_H
  #define DATAGRABBER_H
  
  #include <global.h>
  
  // ***************** Class which deals with the conversion of RGB and Depth Images to PointClouds ****************
  
  class DataGrabber
  {
  
      bool euclidSensor, kinectSensor, astraSensor;
  
  public:
      //Constructor to set the Sensor
      DataGrabber( bool p_euclidSensor, bool p_kinectSensor, bool p_astraSensor );
  
      //function to convert RGB and Depth Maps to Point Clouds
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > rgbd2Pcl( cv::Mat p_imageRgb, cv::Mat p_imageDepth );
  
      //function to convert Depth Maps to Point Clouds
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > rgbd2Pcl( cv::Mat p_imageDepth );
  
      //function to convert the depth values from depth image to meters
      void depthToMeter(const float p_FeatX, const float p_FeatY, const float p_RawDisparity,
                        float &p_X, float &p_Y, float &p_Z);
  };
  
  #endif // DATAGRABBER_H
  