node.h

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#ifndef __VISP_AUTO_TRACKER_NODE_H__
#define __VISP_AUTO_TRACKER_NODE_H__
#include "ros/ros.h"

#include <visp3/core/vpConfig.h>
#include "libauto_tracker/tracking.h"
#include <string>

#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "sensor_msgs/CameraInfo.h"
#include "sensor_msgs/Image.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include "std_msgs/Header.h"
#include <sstream>

namespace visp_auto_tracker{
  class Node{
  private:
    boost::mutex lock_;
    ros::NodeHandle n_;
    unsigned long queue_size_;
    std::string tracker_config_path_;
    std::string model_description_;
    std::string model_path_;
    std::string model_name_;
    std::string code_message_;
    std::string tracker_ref_frame_;
    
    bool debug_display_;

    vpImage<vpRGBa> I_; // Image used for debug display
    std_msgs::Header image_header_;
    bool got_image_;
    vpCameraParameters cam_;

    tracking::Tracker* t_;
    CmdLine cmd_;

    void waitForImage();

    void frameCallback(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::CameraInfoConstPtr& cam_info);

  public:
    Node();
    void spin();
  };
};
#endif