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https://github.com/introlab/rtabmap_ros.git
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matlabbe
2eef2b3231
* Lyrical support * removed dep not available on lyrical * updated docker lyrcical * making cmake less verbose, disabled tests on rtabmap_python * cleanup not used tests in rtabmap_python * addressing some lyrical deprecated warnings * cancel pr jobs on recommit * small refactor * disabled lyrical bin docker * restored python test and fixed error * trigger ci * fixing docker lyrical * disabled rtabmap_ros lyrical * pytest * fixing packages-skip * bump 0.23.7
86 lines
3.5 KiB
C++
86 lines
3.5 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_util/visibility.h>
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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 <sensor_msgs/msg/camera_info.hpp>
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#include <image_transport/image_transport.hpp>
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#include <tf2_ros/buffer.hpp>
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#include <tf2_ros/transform_listener.hpp>
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#include <message_filters/sync_policies/approximate_time.hpp>
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#include <message_filters/sync_policies/exact_time.hpp>
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#include <message_filters/subscriber.hpp>
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namespace rtabmap_util
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{
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class PointCloudToDepthImage : public rclcpp::Node
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{
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public:
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RTABMAP_UTIL_PUBLIC
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explicit PointCloudToDepthImage(const rclcpp::NodeOptions & options);
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virtual ~PointCloudToDepthImage();
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private:
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void callback(
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointCloud2Msg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg);
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private:
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image_transport::Publisher depthImage16Pub_;
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image_transport::Publisher depthImage32Pub_;
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rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr cameraInfo16Pub_;
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rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr cameraInfo32Pub_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointCloudTransformedPub_;
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message_filters::Subscriber<sensor_msgs::msg::PointCloud2> pointCloudSub_;
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message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
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std::string fixedFrameId_;
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std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
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std::shared_ptr<tf2_ros::TransformListener> tfListener_;
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double waitForTransform_;
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int fillHolesSize_;
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double fillHolesError_;
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int fillIterations_;
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int decimation_;
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bool upscale_;
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double upscaleDepthErrorRatio_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::PointCloud2, sensor_msgs::msg::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, sensor_msgs::msg::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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};
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}
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