mt-lifan
7d738e12f8
2. Add high frequency odom data ; 3. Add image undistort functionality; 4. optimized data publish pipeline 5. other optimizations
84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*
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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 <ros/ros.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CompressedImage.h>
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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.h>
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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 DepthImageRosNode
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{
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public:
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DepthImageRosNode(ros::NodeHandle &nh, ros::NodeHandle &pnh);
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private:
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ros::NodeHandle nh_, pnh_;
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image_transport::ImageTransport it_;
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std::string cloud_raw_topic_;
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std::string color_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::PointCloud2> cloud_sub_;
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message_filters::Subscriber<sensor_msgs::Image> color_sub_;
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message_filters::Subscriber<sensor_msgs::CompressedImage> color_compressed_sub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::Image> MySyncPolicy;
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typedef message_filters::Synchronizer<MySyncPolicy> Sync;
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std::shared_ptr<Sync> sync_;
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image_transport::Publisher depth_image_pub_;
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ros::Publisher 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::PointCloud2ConstPtr &cloud_msg,
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const sensor_msgs::ImageConstPtr &image_msg);
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void publishDepthImage(const cv::Mat &img,
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const std_msgs::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::Header &header);
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};
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