publisher.h

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#ifndef PUBLISHER_H
#define PUBLISHER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>

#include <opencv2/opencv.hpp>

#include "tracking.h"
#include "frame.h"

using namespace std;

namespace slam
{

class Tracking;

class Publisher
{

public:

  Publisher();

  void publishClustering(const Frame frame);

protected:

  void drawKeypointsClustering(const Frame frame);

private:

  ros::Publisher pub_clustering_; 

};

} // namespace

#endif // PUBLISHER_H