82 lines
2.7 KiB
C++
82 lines
2.7 KiB
C++
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/*
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Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#pragma once
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#include <rclcpp/rclcpp.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <sensor_msgs/msg/image.hpp>
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#include <sensor_msgs/msg/compressed_image.hpp>
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#include <pcl_conversions/pcl_conversions.h>
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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#include <opencv2/opencv.hpp>
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#include <cv_bridge/cv_bridge.h>
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#include <image_transport/image_transport.hpp>
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#include <message_filters/subscriber.h>
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#include <message_filters/time_synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <Eigen/Dense>
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#include "pointcloud_depth_converter.hpp"
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#include <string>
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#include <memory>
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class DepthImageRos2Node : public rclcpp::Node
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{
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public:
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explicit DepthImageRos2Node(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
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void initialize();
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private:
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std::string cloud_raw_topic_;
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std::string color_compressed_topic_;
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std::string depth_image_topic_;
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std::string depth_cloud_topic_;
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message_filters::Subscriber<sensor_msgs::msg::PointCloud2> cloud_sub_;
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message_filters::Subscriber<sensor_msgs::msg::CompressedImage> color_compressed_sub_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::msg::PointCloud2,
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sensor_msgs::msg::CompressedImage> MySyncPolicy;
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typedef message_filters::Synchronizer<MySyncPolicy> Sync;
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std::shared_ptr<Sync> sync_;
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std::shared_ptr<image_transport::ImageTransport> it_;
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image_transport::Publisher depth_image_pub_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr depth_cloud_pub_;
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std::unique_ptr<PointCloudToDepthConverter> depth_converter_;
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PointCloudToDepthConverter::CameraParams loadCameraParams();
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void syncCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg,
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const sensor_msgs::msg::CompressedImage::ConstSharedPtr image_msg);
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void publishDepthImage(const cv::Mat &img,
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const std_msgs::msg::Header &header,
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const std::string &encoding = "32FC1");
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void publishDepthCloud(const pcl::PointCloud<pcl::PointXYZRGB> &colored_cloud,
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const std_msgs::msg::Header &header);
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};
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