new node birth

Author: MoscowskyAnton

src/extended_object_detection_node/eod_node.cpp

@@ -0,0 +1,45 @@
+#include "eod_node.h"
+
+
+EOD_ROS::EOD_ROS(ros::NodeHandle nh){
+    nh_ = nh;    
+    
+    rgb_it_ = new image_transport::ImageTransport(nh_);    
+            
+    sub_rgb_.subscribe(*rgb_it_, "camera/image_raw", 1);
+        
+    nh_p_.param("subscribe_depth", subscribe_depth, false);        
+    
+    if( !subscribe_depth){
+        ROS_INFO("Configuring filter on rgb and info...");
+        sub_info_.subscribe(nh_, "camera/info", 1);                            
+    
+        sync_.reset( new Synchronizer(RGBInfoSyncPolicy(10), sub_rgb_, sub_info_) );
+        sync_->registerCallback(boost::bind(&EOD_ROS::rgb_info_cb, this, boost::placeholders::_1,  boost::placeholders::_2));
+                                
+    }
+    else{
+        image_transport::SubscriberFilter sub_depth_;    
+        
+    }      
+    message_filters::Synchronizer<RGBInfoSyncPolicy> sync(RGBInfoSyncPolicy(10), sub_rgb_, sub_info_);            
+    ROS_INFO("Configured!");
+}
+
+void EOD_ROS::rgb_info_cb(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::CameraInfoConstPtr& info){
+    ROS_INFO("Get Image!");
+}
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "extended_object_detection_node");
+    ros::NodeHandle nh_;
+    
+    ROS_INFO("Extended object detector started...");
+    
+    EOD_ROS eod_ros(nh_);
+    
+    ros::spin();
+                
+    return 0;
+}

src/extended_object_detection_node/eod_node.h

@@ -0,0 +1,42 @@
+/*
+ * Extneded Object Detection ROS Node
+ */
+
+#include <ros/ros.h>
+#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h>
+
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/image_encodings.h>
+
+//#include "ObjectBase.h"
+
+
+typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo> RGBInfoSyncPolicy;
+        
+typedef message_filters::Synchronizer<RGBInfoSyncPolicy> Synchronizer;
+
+
+class EOD_ROS{
+public:
+    EOD_ROS(ros::NodeHandle nh);
+    
+    void rgb_info_cb(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::CameraInfoConstPtr& info);
+    
+private:
+    // ros stuff
+    ros::NodeHandle nh_, nh_p_;
+    image_transport::ImageTransport *rgb_it_;
+    image_transport::SubscriberFilter sub_rgb_;    
+    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
+    boost::shared_ptr<Synchronizer> sync_;
+    
+    // params
+    bool subscribe_depth;        
+    
+};