92 lines
2.6 KiB
C++
92 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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#ifdef ROS2
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#include <rclcpp/rclcpp.hpp>
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#include <sensor_msgs/msg/image.hpp>
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#include <cv_bridge/cv_bridge.h>
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#include <mutex>
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#else
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#include <ros/ros.h>
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#include <sensor_msgs/Image.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/sync_policies/approximate_time.h>
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#include <message_filters/synchronizer.h>
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#endif
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#include <opencv2/opencv.hpp>
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#include <string>
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#include <memory>
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#ifdef ROS2
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class ImageOverlayNode : public rclcpp::Node
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{
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public:
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ImageOverlayNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
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private:
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using Image = sensor_msgs::msg::Image;
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std::string reprojected_topic_;
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std::string camera_topic_;
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std::string overlay_topic_;
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double alpha_; // blend alpha for overlay
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rclcpp::Subscription<Image>::SharedPtr reproj_sub_;
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rclcpp::Subscription<Image>::SharedPtr camera_sub_;
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rclcpp::Publisher<Image>::SharedPtr overlay_pub_;
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// Cache latest images
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cv::Mat latest_reproj_img_;
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cv::Mat latest_camera_img_;
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std_msgs::msg::Header latest_header_;
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std::mutex mutex_;
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void reprojCallback(const Image::ConstSharedPtr& msg);
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void cameraCallback(const Image::ConstSharedPtr& msg);
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void publishOverlay();
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};
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#else
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#include <mutex>
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class ImageOverlayNode
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{
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public:
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ImageOverlayNode(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 reprojected_topic_;
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std::string camera_topic_;
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std::string overlay_topic_;
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double alpha_; // blend alpha for overlay
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ros::Subscriber reproj_sub_;
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ros::Subscriber camera_sub_;
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ros::Publisher overlay_pub_;
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// Cache latest images
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cv::Mat latest_reproj_img_;
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cv::Mat latest_camera_img_;
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std_msgs::Header latest_header_;
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std::mutex mutex_;
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void reprojCallback(const sensor_msgs::ImageConstPtr& msg);
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void cameraCallback(const sensor_msgs::ImageConstPtr& msg);
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void publishOverlay();
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};
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#endif
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