euclidean_cluster_nodelet.cpp

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#include <pointcloud_segmentation/euclidean_cluster.h>

int main(int argc, char **argv)
{
    // Set up ROS.
    ros::init(argc, argv, "euclidean_cluster_nodelet");
    ros::NodeHandle n;
    
    // Variables to read from launch file
    string pointcloud_input;
    string cluster_markers;
    string cluster_markers_text;
    
    // Create the euclidean_cluster_class object
    euclidean_cluster_extraction<PointXYZRGB> * ec_class = new euclidean_cluster_extraction<PointXYZRGB> ();
    
    // Read data from launch file
    ros::NodeHandle private_node_handle_("~");
    private_node_handle_.param("pointcloud_input", pointcloud_input, string("pointcloud_input"));
    private_node_handle_.param("cluster_markers", cluster_markers, string("cluster_markers"));
    private_node_handle_.param("cluster_markers_text", cluster_markers_text, string("cluster_markers_text"));
    private_node_handle_.param("cluster_tolerance", ec_class->cluster_tolerance, double(ec_class->cluster_tolerance));
    private_node_handle_.param("min_cluster_size", ec_class->min_cluster_size, double(ec_class->min_cluster_size));
    private_node_handle_.param("max_cluster_size", ec_class->max_cluster_size, double(ec_class->max_cluster_size));
    
    // Subscribe messages
    ros::Subscriber sub_cloud = n.subscribe(pointcloud_input.c_str(), 1, &euclidean_cluster_extraction<PointXYZRGB>::callback_cloud,ec_class);
    
    // Publish messages
    ros::Publisher pub_markers=n.advertise<visualization_msgs::Marker>(cluster_markers.c_str(),1000);
    ros::Publisher pub_markers_text=n.advertise<visualization_msgs::Marker>(cluster_markers_text.c_str(),1000);
    
    // Set object pointers
    ec_class->pub_marker_ptr=&pub_markers;
    ec_class->pub_marker_text_ptr=&pub_markers_text;
    
    // Main loop.
    while (n.ok())
    {
        ros::spinOnce();
    }
    
    return 0;
}