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change into raw image sync, better for online inference

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This commit is contained in:
jingyang-huang
2026-04-09 16:53:50 +08:00
parent 78b8d371ea
commit 3659ffd110
3 changed files with 43 additions and 41 deletions
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include/cloud_reprojection_ros_node.hpp
+10 -8
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@@ -16,6 +16,7 @@ limitations under the License.
#ifdef ROS2
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <cv_bridge/cv_bridge.h>
@@ -50,6 +51,7 @@ public:
private:
using PointCloud2 = sensor_msgs::msg::PointCloud2;
using Odometry = nav_msgs::msg::Odometry;
using Image = sensor_msgs::msg::Image;
using CompressedImage = sensor_msgs::msg::CompressedImage;
std::string cloud_slam_topic_;
@@ -66,9 +68,9 @@ private:
message_filters::Subscriber<PointCloud2> cloud_sub_;
message_filters::Subscriber<Odometry> odom_sub_;
message_filters::Subscriber<Odometry> wiwc_sub_;
message_filters::Subscriber<CompressedImage> image_compressed_sub_;
message_filters::Subscriber<Image> image_sub_;
typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, Odometry, CompressedImage> MySyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, Odometry, Image> MySyncPolicy;
typedef message_filters::Synchronizer<MySyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -83,7 +85,7 @@ private:
rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_slam_pub_;
rclcpp::Publisher<Odometry>::SharedPtr sync_odom_pub_;
rclcpp::Publisher<Odometry>::SharedPtr sync_wiwc_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_pub_;
rclcpp::Publisher<Image>::SharedPtr sync_image_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr overlay_compressed_pub_; // optional if send_overlay_
rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_; // optional if publish_combined_compressed_
@@ -94,7 +96,7 @@ private:
void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,
const Odometry::ConstSharedPtr& odom_msg,
const Odometry::ConstSharedPtr& wiwc_msg,
const CompressedImage::ConstSharedPtr& image_compressed_msg);
const Image::ConstSharedPtr& image_msg);
};
#else
class CloudReprojectionRosNode
@@ -126,10 +128,10 @@ private:
message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
message_filters::Subscriber<nav_msgs::Odometry> wiwc_sub_;
message_filters::Subscriber<sensor_msgs::CompressedImage> image_compressed_sub_;
message_filters::Subscriber<sensor_msgs::Image> image_sub_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2, nav_msgs::Odometry, nav_msgs::Odometry, sensor_msgs::CompressedImage> MySyncPolicy;
sensor_msgs::PointCloud2, nav_msgs::Odometry, nav_msgs::Odometry, sensor_msgs::Image> MySyncPolicy;
typedef message_filters::Synchronizer<MySyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -137,7 +139,7 @@ private:
ros::Publisher sync_cloud_slam_pub_;
ros::Publisher sync_odom_pub_;
ros::Publisher sync_wiwc_pub_;
ros::Publisher sync_image_pub_; // CompressedImage
ros::Publisher sync_image_pub_; // Image
ros::Publisher overlay_compressed_pub_;
ros::Publisher combined_pub_;
@@ -148,6 +150,6 @@ private:
void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
const nav_msgs::OdometryConstPtr& odom_msg,
const nav_msgs::OdometryConstPtr& wiwc_msg,
const sensor_msgs::CompressedImageConstPtr& image_compressed_msg);
const sensor_msgs::ImageConstPtr& image_msg);
};
#endif