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test ver

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This commit is contained in:
jingyang-huang
2026-04-02 16:11:40 +08:00
parent 9ca6cf61f3
commit 84c6318121
18 changed files with 879 additions and 49 deletions
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include/cloud_reprojection_ros_node.hpp
+12 -4
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@@ -23,6 +23,7 @@ limitations under the License.
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#else
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
@@ -32,6 +33,7 @@ limitations under the License.
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#endif
#include <pcl_conversions/pcl_conversions.h>
@@ -56,12 +58,14 @@ private:
std::string cloud_slam_topic_;
std::string odometry_topic_;
std::string wiwc_topic_;
std::string reprojected_image_topic_;
message_filters::Subscriber<PointCloud2> cloud_sub_;
message_filters::Subscriber<Odometry> odom_sub_;
message_filters::Subscriber<Odometry> wiwc_sub_;
typedef message_filters::sync_policies::ExactTime<PointCloud2, Odometry> MySyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, Odometry> MySyncPolicy;
typedef message_filters::Synchronizer<MySyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -71,7 +75,8 @@ private:
void loadParameters();
void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,
const Odometry::ConstSharedPtr& odom_msg);
const Odometry::ConstSharedPtr& odom_msg,
const Odometry::ConstSharedPtr& wiwc_msg);
};
#else
class CloudReprojectionRosNode
@@ -84,12 +89,14 @@ private:
std::string cloud_slam_topic_;
std::string odometry_topic_;
std::string wiwc_topic_;
std::string reprojected_image_topic_;
message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
message_filters::Subscriber<nav_msgs::Odometry> wiwc_sub_;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> MySyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, nav_msgs::Odometry, nav_msgs::Odometry> MySyncPolicy;
typedef message_filters::Synchronizer<MySyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -99,6 +106,7 @@ private:
void loadParameters();
void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
const nav_msgs::OdometryConstPtr& odom_msg);
const nav_msgs::OdometryConstPtr& odom_msg,
const nav_msgs::OdometryConstPtr& wiwc_msg);
};
#endif