node.h
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00001 #ifndef __VISP_AUTO_TRACKER_NODE_H__
00002 #define __VISP_AUTO_TRACKER_NODE_H__
00003 #include "ros/ros.h"
00004 
00005 #include "visp/vpConfig.h"
00006 #include "libauto_tracker/tracking.h"
00007 #include <string>
00008 
00009 #include "message_filters/subscriber.h"
00010 #include "message_filters/time_synchronizer.h"
00011 #include "sensor_msgs/CameraInfo.h"
00012 #include "sensor_msgs/Image.h"
00013 #include "geometry_msgs/PoseStamped.h"
00014 #include "geometry_msgs/PoseWithCovarianceStamped.h"
00015 #include "std_msgs/Header.h"
00016 #include <sstream>
00017 
00018 namespace visp_auto_tracker{
00019         class Node{
00020         private:
00021                 boost::mutex lock_;
00022                 ros::NodeHandle n_;
00023                 unsigned long queue_size_;
00024                 std::string tracker_config_path_;
00025                 std::string model_description_;
00026                 std::string model_path_;
00027                 std::string model_name_;
00028                 std::string code_message_;
00029                 bool debug_display_;
00030 
00031                 vpImage<vpRGBa> I_; // Image used for debug display
00032                 std_msgs::Header image_header_;
00033                 bool got_image_;
00034                 vpCameraParameters cam_;
00035 
00036                 tracking::Tracker* t_;
00037                 CmdLine cmd_;
00038 
00039             void waitForImage();
00040 
00041             void frameCallback(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::CameraInfoConstPtr& cam_info);
00042 
00043         public:
00044                 Node();
00045                 void spin();
00046         };
00047 };
00048 #endif


visp_auto_tracker
Author(s): Filip Novotny
autogenerated on Sun Feb 19 2017 03:28:53