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ROS matcher v1 simplifiée

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This commit is contained in:
Unknown 2018-08-01 18:05:28 +02:00
parent 373a75ae87
commit ffe3eee32b
254 changed files with 71 additions and 61110 deletions
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11
asift_match/src/ROS_matcher.hpp
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@ -19,6 +19,7 @@ enum MATCHER_STATUS{
MATCHER_STATUS_PROCESSING,
MATCHER_STATUS_WAITING_INIT};
class ROS_matcher
{
protected:
@ -28,7 +29,9 @@ protected:
ros::Publisher _center_pub;
//Subscriber ROS
// ros::Subscriber _image_sub;
message_filters::Subscriber<sensor_msgs::CameraInfo>* info_sub;
message_filters::Subscriber<sensor_msgs::Image>* image_sub;
message_filters::Subscriber<sensor_msgs::PointCloud2>* pointcloud_sub;
//Matcher
int _num_tilt;
@ -36,10 +39,12 @@ protected:
MATCHER_STATUS _status;
message_filters::TimeSynchronizer<sensor_msgs::CameraInfo, sensor_msgs::Image>* Timesync;
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);
~ROS_matcher();
void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg);
};
#endif