continuous_detector.h

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#ifndef APRILTAG_ROS_CONTINUOUS_DETECTOR_H
#define APRILTAG_ROS_CONTINUOUS_DETECTOR_H

#include "apriltag_ros/common_functions.h"

#include <memory>
#include <mutex>

#include <nodelet/nodelet.h>
#include <ros/service_server.h>
#include <std_srvs/Empty.h>

namespace apriltag_ros
{

class ContinuousDetector: public nodelet::Nodelet
{
 public:
  ContinuousDetector() = default;
  ~ContinuousDetector() = default;

  void onInit();

  void imageCallback(const sensor_msgs::ImageConstPtr& image_rect,
                     const sensor_msgs::CameraInfoConstPtr& camera_info);

  void refreshTagParameters();

 private:
  std::mutex detection_mutex_;
  std::shared_ptr<TagDetector> tag_detector_;
  bool draw_tag_detections_image_;
  cv_bridge::CvImagePtr cv_image_;

  std::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraSubscriber camera_image_subscriber_;
  image_transport::Publisher tag_detections_image_publisher_;
  ros::Publisher tag_detections_publisher_;

  ros::ServiceServer refresh_params_service_;
  bool refreshParamsCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
};

} // namespace apriltag_ros

#endif // APRILTAG_ROS_CONTINUOUS_DETECTOR_H