Class Features3D

Defined in File features_3d.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class Features3D : public rclcpp::Node

Public Types

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

Public Functions

explicit Features3D(const rclcpp::NodeOptions &options)

void onInit()

void overlayCB(const sensor_msgs::msg::Image::ConstSharedPtr &depth, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &info, const depthai_ros_msgs::msg::TrackedFeatures::ConstSharedPtr &features)

float getDepthAt(int x, int y, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image)

Public Members

message_filters::Subscriber<sensor_msgs::msg::Image> depthSub

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

message_filters::Subscriber<sensor_msgs::msg::CameraInfo> infoSub

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

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

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pclPub

bool desqueeze = false