Ajout prototype Wrapper ROS matcher

asift_match/src/ROS_matcher.hpp

@@ -0,0 +1,45 @@
+#ifndef ROSMATCHER_HPP
+#define ROSMATCHER_HPP
+
+#include <ros/ros.h>
+#include <tf/tf.h>
+
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <sensor_msgs/Image.h>
+#include <geometry_msgs/PointStamped.h>
+
+#include "ASIFT_matcher.hpp"
+
+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
+	// ros::Subscriber _image_sub;
+	
+	//Matcher
+	int _num_tilt;
+	ASIFT_matcher matcher;
+
+	MATCHER_STATUS _status;
+
+public:
+	ROS_matcher();
+	// ~ROS_matcher();
+	void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg);
+	
+};
+#endif