monocam_settler_node.cpp

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#include <ros/ros.h>
#include <monocam_settler/monocam_settler.h>

using namespace monocam_settler;

monocam_settler::ConfigGoal getParamConfig(ros::NodeHandle& n)
{
  monocam_settler::ConfigGoal config;

  n.param("~tolerance", config.tolerance, 1.0);
  ROS_INFO("tolerance: %.3f", config.tolerance);

  bool ignore_failures;
  n.param("~ignore_failures", ignore_failures, true);
  config.ignore_failures = ignore_failures;
  if (config.ignore_failures)
    ROS_INFO("Ignore Failures: True");
  else
    ROS_INFO("Ignore Failures: False");

  double max_step;
  n.param("~max_step", max_step, 1000.0);
  config.max_step = ros::Duration(max_step);
  ROS_INFO("max step: [%.3fs]", config.max_step.toSec());

  int cache_size;
  n.param("~cache_size", cache_size, 1000);
  if (cache_size < 0)
    ROS_FATAL("cache_size < 0. (cache_size==%i)", cache_size);
  config.cache_size = (unsigned int) cache_size;
  ROS_INFO("cache_size: [%u]", config.cache_size);

  return config;
}

void msgCallback(ros::Publisher* pub, MonocamSettler* settler, const calibration_msgs::CalibrationPatternConstPtr& msg)
{
  bool success;

  calibration_msgs::Interval interval;
  success = settler->add(msg, interval);

  if (success)
    pub->publish(interval);
  else
  {
    interval.start = msg->header.stamp;
    interval.end =   msg->header.stamp;
    pub->publish(interval);
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "monocam_settler");

  ros::NodeHandle n;

  // Set up the MonocamSettler
  monocam_settler::ConfigGoal config = getParamConfig(n);
  MonocamSettler settler;
  settler.configure(config);

  // Output
  ros::Publisher pub = n.advertise<calibration_msgs::Interval>("settled", 1);

  // Input
  boost::function<void (const calibration_msgs::CalibrationPatternConstPtr&)> cb = boost::bind(&msgCallback, &pub, &settler, _1);
  ros::Subscriber sub = n.subscribe(std::string("features"), 1, cb);

  ros::spin();
}

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monocam_settler
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:55:15 2013