Ajout Readme + Modif mineures interface

asift_matching/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; //Number of tilts
+	float _filter_coeff; //Filter parameter
+	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