Class FeatureTrackerOverlay

• Defined in File feature_tracker_overlay.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class FeatureTrackerOverlay : public rclcpp::Node

Public Types

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, depthai_ros_msgs::msg::TrackedFeatures> syncPolicy

using featureIdType = decltype(geometry_msgs::msg::Point::x)

Public Functions

explicit FeatureTrackerOverlay(const rclcpp::NodeOptions &options)

void onInit()

void overlayCB(const sensor_msgs::msg::Image::ConstSharedPtr &img, const depthai_ros_msgs::msg::TrackedFeatures::ConstSharedPtr &detections)

Public Members

message_filters::Subscriber<sensor_msgs::msg::Image> imgSub

message_filters::Subscriber<depthai_ros_msgs::msg::TrackedFeatures> featureSub

std::unique_ptr<message_filters::Synchronizer<syncPolicy>> sync

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr overlayPub