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Synchro avec pointCloud

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This commit is contained in:
Unknown 2018-08-02 11:31:09 +02:00
parent ffe3eee32b
commit 36abb2ffd7
2 changed files with 22 additions and 11 deletions
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11
asift_match/src/ROS_matcher.hpp
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@ -5,15 +5,20 @@
#include <tf/tf.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.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 <pcl_conversions/pcl_conversions.h>
#include "ASIFT_matcher.hpp"
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy;
enum MATCHER_STATUS{
MATCHER_STATUS_IDLE=0,
MATCHER_STATUS_PROCESSING,
@ -39,12 +44,12 @@ protected:
MATCHER_STATUS _status;
message_filters::TimeSynchronizer<sensor_msgs::CameraInfo, sensor_msgs::Image>* Timesync;
message_filters::Synchronizer<MySyncPolicy>* Timesync;
public:
ROS_matcher();
~ROS_matcher();
void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg);
void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg);
};
#endif