113 lines
3.8 KiB
C++
113 lines
3.8 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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#include <message_filters/sync_policies/approximate_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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#include <message_filters/sync_policies/approximate_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 wiwc_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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message_filters::Subscriber<Odometry> wiwc_sub_;
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typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, 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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const Odometry::ConstSharedPtr& wiwc_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 wiwc_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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message_filters::Subscriber<nav_msgs::Odometry> wiwc_sub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, nav_msgs::Odometry, 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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const nav_msgs::OdometryConstPtr& wiwc_msg);
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};
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#endif
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