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vision_lidar_fusion.h
1 #ifndef VISION_LIDAR_FUSION_H
2 #define VISION_LIDAR_FUSION_H
3 #include "vision_lidar_fusion/vision_lidar_fusion.h"
4 #include <ros/ros.h>
5 #include <sensor_msgs/LaserScan.h>
6 #include <vision_unit/transformed_scan.h>
7 #include <vision_unit/armor_msg.h>
8 struct RelPos
9 {
10  double x;
11  double y;
12  double z;
13 };
14 
15 struct AbsPos
16 {
17  double x;
18  double y;
19  double z;
20 };
21 
23 {
24 public:
26  void fusionLidarCam(const vision_unit::transformed_scanConstPtr transformed_scan);
27  void receive_armor_info(const vision_unit::armor_msgConstPtr transformed_scan);
28 private:
29  ros::Subscriber sub_camera_;
30  ros::Subscriber sub_transformed_scan_;
31  double armor_angle_;
32  int armor_index_;
33  double armor_dist_;
34 };
35 
36 #endif // VISION_LIDAR_FUSION_H
Definition: vision_lidar_fusion.h:22
Definition: vision_lidar_fusion.h:8
Definition: vision_lidar_fusion.h:15