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add overlay image on c++ for debug; unify synced sensor output

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jingyang-huang
2026-04-09 15:51:26 +08:00
parent 77fac3f793
commit cdfe249111
5 changed files with 109 additions and 156 deletions
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include/cloud_reprojection_ros_node.hpp
+4 -4
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@@ -60,7 +60,6 @@ private:
std::string wiwc_topic_;
std::string camera_image_topic_;
std::string sync_topic_prefix_;
std::string reprojected_image_topic_;
std::string combined_compressed_topic_;
int combined_jpeg_quality_;
bool publish_combined_compressed_;
@@ -79,6 +78,7 @@ private:
std::string sync_odom_topic_;
std::string sync_wiwc_topic_;
std::string sync_image_topic_;
std::string sync_overlay_image_topic_;
rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_pub_;
rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_slam_pub_;
@@ -86,7 +86,7 @@ private:
rclcpp::Publisher<Odometry>::SharedPtr sync_wiwc_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_pub_;
image_transport::Publisher reprojected_image_pub_;
image_transport::Publisher overlay_image_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_; // optional if publish_combined_compressed_
std::unique_ptr<CloudReprojector> reprojector_;
@@ -111,7 +111,6 @@ private:
std::string wiwc_topic_;
std::string camera_image_topic_;
std::string sync_topic_prefix_;
std::string reprojected_image_topic_;
std::string combined_compressed_topic_;
int combined_jpeg_quality_;
bool publish_combined_compressed_;
@@ -121,6 +120,7 @@ private:
std::string sync_odom_topic_;
std::string sync_wiwc_topic_;
std::string sync_image_topic_;
std::string sync_overlay_image_topic_;
message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
@@ -138,7 +138,7 @@ private:
ros::Publisher sync_wiwc_pub_;
ros::Publisher sync_image_pub_; // CompressedImage
ros::Publisher reprojected_image_pub_;
ros::Publisher overlay_image_pub_;
ros::Publisher combined_pub_;
std::unique_ptr<CloudReprojector> reprojector_;