region_growing_nodelet.cpp

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#include <pointcloud_segmentation/region_growing_node.h>

int main(int argc, char **argv)
{
    // Set up ROS.
    ros::init(argc, argv, "region_growing_nodelet");
    ros::NodeHandle n;
    
    // Variables to read from launch file
    string pointcloud_input;
    string laser_input;
    string cluster_markers;
    string cluster_markers_text;
    // Declare node class object
    region_growing_node<PointXYZRGB, PointXYZ> * rg_class = new region_growing_node<PointXYZRGB, PointXYZ> ();
    
    // 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("laser_input", laser_input, string("laser_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("min_cluster_size", rg_class->min_cluster_size, double(rg_class->min_cluster_size));
    private_node_handle_.param("max_cluster_size", rg_class->max_cluster_size, double(rg_class->max_cluster_size));
    private_node_handle_.param("clustering_tolerance", rg_class->clustering_tolerance, double(rg_class->clustering_tolerance));
    private_node_handle_.param("radius", rg_class->radius, double(rg_class->radius));
    
    
    // Subscribe messages
    ros::Subscriber sub_cloud = n.subscribe(pointcloud_input.c_str(), 1, &region_growing_node<PointXYZRGB, PointXYZ>::callback_cloud,rg_class);
    ros::Subscriber sub_laser = n.subscribe(laser_input.c_str(), 1,&region_growing_node<PointXYZRGB, PointXYZ>::callback_laser,rg_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);
    
    rg_class->pub_markers_ptr=&pub_markers;
    rg_class->pub_markers_text_ptr=&pub_markers_text;
    
    // Main loop.
    while (n.ok())
    {
        ros::spinOnce();
    }
    
    return 0;
}