odin_ros_driver1/include/cloud_reprojection_ros_node.hpp

/*
Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
   http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/

#pragma once

#ifdef ROS2
    #include <rclcpp/rclcpp.hpp>
    #include <sensor_msgs/msg/point_cloud2.hpp>
    #include <sensor_msgs/msg/image.hpp>
    #include <sensor_msgs/msg/compressed_image.hpp>
    #include <nav_msgs/msg/odometry.hpp>
    #include <image_transport/image_transport.hpp>
    #include <cv_bridge/cv_bridge.h>
    #include <message_filters/subscriber.h>
    #include <message_filters/sync_policies/approximate_time.h>
#else
    #include <ros/ros.h>
    #include <sensor_msgs/PointCloud2.h>
    #include <sensor_msgs/Image.h>
    #include <sensor_msgs/CompressedImage.h>
    #include <nav_msgs/Odometry.h>
    #include <cv_bridge/cv_bridge.h>
    #include <message_filters/subscriber.h>
    #include <message_filters/sync_policies/approximate_time.h>
#endif

#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

#include "cloud_reprojector.hpp"

#include <string>
#include <memory>

#ifdef ROS2
class CloudReprojectionRosNode : public rclcpp::Node
{
public:
    CloudReprojectionRosNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());

private:
    using PointCloud2 = sensor_msgs::msg::PointCloud2;
    using Odometry = nav_msgs::msg::Odometry;
    using Image = sensor_msgs::msg::Image;
    using CompressedImage = sensor_msgs::msg::CompressedImage;

    std::string cloud_slam_topic_;
    std::string odometry_topic_;
    std::string wiwc_topic_;
    std::string camera_image_topic_;
    std::string sync_topic_prefix_;
    std::string combined_compressed_topic_;
    int combined_jpeg_quality_;
    bool publish_combined_compressed_;

    message_filters::Subscriber<PointCloud2> cloud_sub_;
    message_filters::Subscriber<Odometry> odom_sub_;
    message_filters::Subscriber<Odometry> wiwc_sub_;
    message_filters::Subscriber<CompressedImage> image_compressed_sub_;

    typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, Odometry, CompressedImage> MySyncPolicy;
    typedef message_filters::Synchronizer<MySyncPolicy> Sync;
    std::shared_ptr<Sync> sync_;

    std::string sync_cloud_topic_;
    std::string sync_cloud_slam_topic_;
    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_;
    rclcpp::Publisher<Odometry>::SharedPtr sync_odom_pub_;
    rclcpp::Publisher<Odometry>::SharedPtr sync_wiwc_pub_;
    rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_pub_;

    image_transport::Publisher overlay_image_pub_;
    rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_;  // optional if publish_combined_compressed_

    std::unique_ptr<CloudReprojector> reprojector_;

    void loadParameters();
    void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,
                      const Odometry::ConstSharedPtr& odom_msg,
                      const Odometry::ConstSharedPtr& wiwc_msg,
                      const CompressedImage::ConstSharedPtr& image_compressed_msg);
};
#else
class CloudReprojectionRosNode
{
public:
    CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh);

private:
    ros::NodeHandle nh_, pnh_;

    std::string cloud_slam_topic_;
    std::string odometry_topic_;
    std::string wiwc_topic_;
    std::string camera_image_topic_;
    std::string sync_topic_prefix_;
    std::string combined_compressed_topic_;
    int combined_jpeg_quality_;
    bool publish_combined_compressed_;

    std::string sync_cloud_topic_;
    std::string sync_cloud_slam_topic_;
    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_;
    message_filters::Subscriber<nav_msgs::Odometry> wiwc_sub_;
    message_filters::Subscriber<sensor_msgs::CompressedImage> image_compressed_sub_;

    typedef message_filters::sync_policies::ApproximateTime<
        sensor_msgs::PointCloud2, nav_msgs::Odometry, nav_msgs::Odometry, sensor_msgs::CompressedImage> MySyncPolicy;
    typedef message_filters::Synchronizer<MySyncPolicy> Sync;
    std::shared_ptr<Sync> sync_;

    ros::Publisher sync_cloud_pub_;
    ros::Publisher sync_cloud_slam_pub_;
    ros::Publisher sync_odom_pub_;
    ros::Publisher sync_wiwc_pub_;
    ros::Publisher sync_image_pub_;  // CompressedImage

    ros::Publisher overlay_image_pub_;
    ros::Publisher combined_pub_;

    std::unique_ptr<CloudReprojector> reprojector_;

    void loadParameters();
    void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
                      const nav_msgs::OdometryConstPtr& odom_msg,
                      const nav_msgs::OdometryConstPtr& wiwc_msg,
                      const sensor_msgs::CompressedImageConstPtr& image_compressed_msg);
};
#endif