36 lines
1002 B
C++
36 lines
1002 B
C++
#include <pcl_conversions/pcl_conversions.h>
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#include <ros/ros.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <functional>
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#include "log.h"
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#include "oh_my_loam.h"
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void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg,
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oh_my_loam::OhMyLoam* const slam);
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int main(int argc, char* argv[]) {
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g3::InitG3Logging<true>("oh_my_loam", ".log");
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oh_my_loam::OhMyLoam slam;
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slam.Init();
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ros::init(argc, argv, "oh_my_loam");
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ros::NodeHandle nh;
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ros::Subscriber sub_point_cloud = nh.subscribe<sensor_msgs::PointCloud2>(
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"/velodyne_points", 100,
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std::bind(PointCloudHandler, std::placeholders::_1, &slam));
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ros::spin();
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return 0;
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}
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void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg,
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oh_my_loam::OhMyLoam* const slam) {
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oh_my_loam::PointCloud cloud;
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pcl::fromROSMsg(*msg, cloud);
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AINFO << "Point num = " << cloud.size()
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<< ", ts = " << msg->header.stamp.toSec();
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slam->Run(cloud, 0.0);
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} |