calc_flow_node () : nh_(), it_(nh_), flow(0, 0, CV_8UC1), prevImg(0, 0, CV_8UC1) {
//flow = new cv::Mat(0, 0, CV_8UC1);
namespace_ = nh_.resolveName("camera");
camera_sub = it_.subscribeCamera(namespace_ + "/image", 10, &calc_flow_node::cameraCB, this);
result_pub_ = nh_.advertise<sensor_msgs::Image> ("flow_image", 1);
//result_pub_ = nh_.advertise<sensor_msgs::PointCloud2> ("flow_vector", 1);
}
RECONSTRUCTION()
: it_(nh_)
{
left_subscribe = it_.subscribeCamera("/stereo/left/image_raw", 2, &RECONSTRUCTION::imageCb, this);
right_subscribe = it_.subscribeCamera("/stereo/right/image_raw", 2, &RECONSTRUCTION::imageCb2, this);
pub_drone[0] = nh_.advertise<geometry_msgs::Point>("/KALMAN", 1);
pub_drone[1] = nh_.advertise<geometry_msgs::Point>("/SECOND/CURRENT_POS", 1);
pub_drone[2] = nh_.advertise<geometry_msgs::Point>("/THIRD/CURRENT_POS", 1);
pub_drone[3] = nh_.advertise<geometry_msgs::Point>("/FOURTH/CURRENT_POS", 1);
Nasang[0] = nh_.advertise<geometry_msgs::Point>("/FIRST/NASANG", 1);
Nasang[1] = nh_.advertise<geometry_msgs::Point>("/SECOND/NASANG", 1);
Nasang[2] = nh_.advertise<geometry_msgs::Point>("/THIRD/NASANG", 1);
Nasang[3] = nh_.advertise<geometry_msgs::Point>("/FOURTH/NASANG", 1);
#ifdef DEBUG
cv::namedWindow(OPENCV_WINDOW, 0);
cv::namedWindow(OPENCV_WINDOW2, 0);
#endif
}
void SwissRangerDevice::createSubscribers(ros::NodeHandle & nh,
image_transport::ImageTransport & image_transport_nh,
const std::string & main_topic)
{
std::stringstream ss;
ss << main_topic << "/cloud";
cloud_sub_ = nh.subscribe(ss.str(), 1, &SwissRangerDevice::cloudCallback, this);
ss.str("");
ss << main_topic << "/intensity";
camera_sub_ = image_transport_nh.subscribeCamera(ss.str(), 1, &SwissRangerDevice::imageCallback, this);
}
void KinectDevice::createSubscribers(ros::NodeHandle & nh,
image_transport::ImageTransport & image_transport_nh,
const std::string & main_topic)
{
std::stringstream ss;
ss << main_topic << "/image";
camera_sub_ = image_transport_nh.subscribeCamera(ss.str(), 1, &KinectDevice::imageCallback, this);
// ss.str("");
// ss << main_topic << "/depth_image";
// depth_sub_ = image_transport_nh.subscribeCamera(ss.str(), 1, &KinectDevice::depthCallback, this);
ss.str("");
ss << main_topic << "/cloud";
cloud_sub_ = nh.subscribe(ss.str(), 1, &KinectDevice::cloudCallback, this);
}