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Ajout Readme + Modif mineures interface

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Unknown 2018-08-10 16:57:26 +02:00
parent 1c72d90e9a
commit 3300e0efd3
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asift_match/src/ROS_matcher.hpp
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/*
* ROS wrapper for the ASIFT_matcher object.
* Track an object described in the references in a RGBD stream and publish it's center.
* @author : antoine.harle@etu.upmc.Fr
* @see : ASIFT_matcher.cpp/.hpp, asift_match.launch
*/
#ifndef ROSMATCHER_HPP
#define ROSMATCHER_HPP
#include <ros/ros.h>
#include <tf/tf.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <geometry_msgs/PointStamped.h>
#include <rviz_interface/NamedPoint.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/impl/point_types.hpp>
#include "ASIFT_matcher.hpp"
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy;
enum MATCHER_STATUS{
MATCHER_STATUS_IDLE=0,
MATCHER_STATUS_PROCESSING,
MATCHER_STATUS_WAITING_INIT};
class ROS_matcher
{
protected:
ros::NodeHandle _nh;
//Publisher ROS
ros::Publisher _center_pub;
//Subscriber ROS
// message_filters::Subscriber<sensor_msgs::CameraInfo>* info_sub;
message_filters::Subscriber<sensor_msgs::Image>* _image_sub;
message_filters::Subscriber<sensor_msgs::PointCloud2>* _pointcloud_sub;
message_filters::Synchronizer<MySyncPolicy>* Timesync;
//Matcher
int _num_tilt, _filter_coeff; //Parameters of the ASIFT_matcher
ASIFT_matcher matcher; //Matcher
MATCHER_STATUS _status; //Matcher status
std::string tracked_object; //Name of the tracked object.
public:
ROS_matcher();
~ROS_matcher();
void cameraCallback(const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg);
};
#endif