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Ajout d'options au launch file (Interface Rviz)

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This commit is contained in:
Unknown 2018-08-03 15:27:30 +02:00
parent ced3ccd8cd
commit f4e33539ee
6 changed files with 85 additions and 11 deletions
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4
asift_match/src/ROS_matcher.cpp
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@ -5,6 +5,7 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
std::string center_topic, image_topic, pointcloud_topic, reference_txt_path;
std::vector<std::string> reference_data_paths;
//Load Param
_nh.param<std::string>("tracked_object", tracked_object, "6DOF");
_nh.param<int>("num_tilt", _num_tilt, 8);
@ -12,8 +13,10 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
_nh.param<std::string>("image_topic", image_topic,"/camera/rgb/image_raw");
_nh.param<std::string>("pointcloud_topic", pointcloud_topic,"/camera/depth_registered/points");
//Publisher
_center_pub = _nh.advertise<rviz_interface::NamedPoint>(center_topic, 1);
//Subscriber
// info_sub = new message_filters::Subscriber<sensor_msgs::CameraInfo>(_nh, "camera/rgb/camera_info", 1);
image_sub = new message_filters::Subscriber<sensor_msgs::Image>(_nh, image_topic, 1);
pointcloud_sub= new message_filters::Subscriber<sensor_msgs::PointCloud2>(_nh, pointcloud_topic, 1);
@ -21,6 +24,7 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
Timesync = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(2), *image_sub, *pointcloud_sub);
Timesync-> registerCallback(boost::bind(&ROS_matcher::cameraCallback, this, _1, _2));
//Load References
if(_nh.getParam("reference_txt_path", reference_txt_path))
{
if(matcher.loadReferences(reference_txt_path.c_str()))