57 lines
No EOL
1.4 KiB
C++
57 lines
No EOL
1.4 KiB
C++
#ifndef ROSMATCHER_HPP
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#define ROSMATCHER_HPP
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#include <ros/ros.h>
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#include <tf/tf.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <geometry_msgs/PointStamped.h>
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#include <rviz_interface/NamedPoint.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <pcl/impl/point_types.hpp>
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#include "ASIFT_matcher.hpp"
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy;
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enum MATCHER_STATUS{
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MATCHER_STATUS_IDLE=0,
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MATCHER_STATUS_PROCESSING,
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MATCHER_STATUS_WAITING_INIT};
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class ROS_matcher
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{
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protected:
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ros::NodeHandle _nh;
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//Publisher ROS
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ros::Publisher _center_pub;
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//Subscriber ROS
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message_filters::Subscriber<sensor_msgs::CameraInfo>* info_sub;
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message_filters::Subscriber<sensor_msgs::Image>* image_sub;
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message_filters::Subscriber<sensor_msgs::PointCloud2>* pointcloud_sub;
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//Matcher
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int _num_tilt;
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ASIFT_matcher matcher;
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MATCHER_STATUS _status;
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message_filters::Synchronizer<MySyncPolicy>* Timesync;
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public:
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ROS_matcher();
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~ROS_matcher();
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void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg);
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};
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#endif |