whycon_ros.h

#include <ros/ros.h>
#include <whycon/localization_system.h>
#include <boost/shared_ptr.hpp>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <image_geometry/pinhole_camera_model.h>
#include <std_srvs/Empty.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>

namespace whycon {
  class WhyConROS {
    public:
      WhyConROS(ros::NodeHandle& n);

      void on_image(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
      bool reset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

    private:
			void load_transforms(void);
      void publish_results(const std_msgs::Header& header, const cv_bridge::CvImageConstPtr& cv_ptr);
      
			whycon::DetectorParameters parameters;
      boost::shared_ptr<whycon::LocalizationSystem> system;
      bool is_tracking, should_reset;
      int max_attempts, max_refine;
      std::string world_frame_id, frame_id;
			int targets;
      double xscale, yscale;

			std::vector<double> projection;
			tf::Transform similarity;

      image_transport::ImageTransport it;
      image_transport::CameraSubscriber cam_sub;
      ros::ServiceServer reset_service;

      ros::Publisher image_pub, poses_pub, context_pub, projection_pub;
			boost::shared_ptr<tf::TransformBroadcaster>	transform_broadcaster;

      image_geometry::PinholeCameraModel camera_model;

      bool transformation_loaded;
  };
}