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UM-ARM-Lab / apriltag_kinect2

BSD 2-Clause "Simplified" License
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Convert apriltags.h and apriltags_kinect2.cpp into a proper class #6

Open dmcconachie opened 6 years ago

dmcconachie commented 6 years ago

Right now the .h file has tons of function and global variable definitions. This needs to be cleaned up.

ros::NodeHandlePtr node_;
boost::shared_ptr<image_transport::ImageTransport> image_;
sensor_msgs::CameraInfo camera_info_;

boost::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster_;

ros::Publisher marker_publisher_;
ros::Publisher apriltag_publisher_;
image_transport::Publisher image_publisher_;

ros::Subscriber info_subscriber;
ros::Subscriber cloud_subscriber;

// AprilTag parts
TagFamily* family_;
TagDetector* detector_;

TagDetectorParams tag_params;
std::string tag_data;
std::string tag_family_name_;
...