mt-lifan
4dcf0e0a97
2.update sdk for ntp functions
3.add set camera FPS function in yaml(10FPS,14.5FPS)
4.release ros driver 0.9.0
5.Add time alignment mode for odin1 device synchronization with host
6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
9.Add LIDAR_DT_NTP data type for receiving
10.add imu data record
11.add cloud reprojection demo
105 lines
3.3 KiB
C++
105 lines
3.3 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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#ifdef ROS2
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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 <nav_msgs/msg/odometry.hpp>
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#include <image_transport/image_transport.hpp>
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#include <cv_bridge/cv_bridge.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/exact_time.h>
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#else
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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 <nav_msgs/Odometry.h>
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#include <cv_bridge/cv_bridge.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/exact_time.h>
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#endif
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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 "cloud_reprojector.hpp"
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#include <string>
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#include <memory>
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#ifdef ROS2
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class CloudReprojectionRosNode : public rclcpp::Node
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{
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public:
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CloudReprojectionRosNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
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private:
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using PointCloud2 = sensor_msgs::msg::PointCloud2;
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using Odometry = nav_msgs::msg::Odometry;
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using Image = sensor_msgs::msg::Image;
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std::string cloud_slam_topic_;
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std::string odometry_topic_;
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std::string reprojected_image_topic_;
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message_filters::Subscriber<PointCloud2> cloud_sub_;
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message_filters::Subscriber<Odometry> odom_sub_;
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typedef message_filters::sync_policies::ExactTime<PointCloud2, Odometry> 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 reprojected_image_pub_;
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std::unique_ptr<CloudReprojector> reprojector_;
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void loadParameters();
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void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,
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const Odometry::ConstSharedPtr& odom_msg);
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};
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#else
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class CloudReprojectionRosNode
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{
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public:
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CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh);
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private:
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ros::NodeHandle nh_, pnh_;
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std::string cloud_slam_topic_;
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std::string odometry_topic_;
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std::string reprojected_image_topic_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
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message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> MySyncPolicy;
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typedef message_filters::Synchronizer<MySyncPolicy> Sync;
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std::shared_ptr<Sync> sync_;
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ros::Publisher reprojected_image_pub_;
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std::unique_ptr<CloudReprojector> reprojector_;
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void loadParameters();
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void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
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const nav_msgs::OdometryConstPtr& odom_msg);
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};
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#endif
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