subscriber_test.cpp

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#include <ros/ros.h>
//#include <pcl_ros/point_cloud.h>
//#include <pcl/point_types.h>
//#include <boost/foreach.hpp>
//#include <pcl/io/pcd_io.h>
//#include <iostream>
//#include <fstream>
//#include <stdio.h>
//
//
//#include "pcl/range_image/range_image.h"
//#include "pcl/io/pcd_io.h"
//#include "pcl_ros/transforms.h"
//
//#include <pcl/point_types.h>
//#include <pcl/filters/passthrough.h>
//
//#include <tf/tf.h>
//#include <tf/transform_listener.h>
//
//
//#include <visualization_msgs/Marker.h>
//#include <unistd.h>
//
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
//
#include <sensor_msgs/PointCloud2.h>
//
using namespace message_filters;
#include "gripper_points_publisher.h"

int main(int argc, char** argv)
{
        ros::init(argc, argv, "Keypoints_berechnen");
        ros::NodeHandle nh;
        tf::TransformListener *listener = new tf::TransformListener(nh, ros::Duration(10));
        sleep(1);
        GripperPointsPublisher gpp;
        message_filters::Subscriber<PointCloud> objekt_sub(nh, "points2", 3);
        message_filters::Subscriber<PointCloud> scene_sub(nh, "office_scene", 3);
        TimeSynchronizer<PointCloud, PointCloud> sync(objekt_sub, scene_sub, 10);
        sync.registerCallback(boost::bind(&GripperPointsPublisher::callback, &gpp, _1, _2, listener));

        ros::spin();
}