message_filters做成员变量时，声明和初始化的方法

原创已于 2022-12-15 10:05:28 修改 · 465 阅读

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#ros #message_filters

于 2020-11-04 14:17:34 首次发布

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本文介绍了一种使用ROS实现彩色图像与深度图像的时间同步方法。通过message_filters库中的TimeSynchronizer和ApproximateTime同步策略，确保了来自不同传感器的数据能够被准确配对处理。此方法对于机器人视觉应用尤为关键。

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

class LWD {
public:
    void Init(ros::NodeHandle &n) {
        color_sub_.subscribe(n, "/color/image_raw", 1);
        depth_sub_.subscribe(n, "/depth/image_rect_raw", 1);
        // 严格相同
        sync_.connectInput(color_sub_, depth_sub_);
        sync_.registerCallback(boost::bind(&LWD::cb, this, _1, _2));
        // 近似相同
        sync.connectInput(color_sub_, depth_sub_);
        sync.registerCallback(boost::bind(&LWD::cb, this, _1, _2));
    }
    void dep2color(const sensor_msgs::ImageConstPtr& imag, const sensor_msgs::Image::ConstPtr& depth);
    void cb(const sensor_msgs::ImageConstPtr& imag, const sensor_msgs::Image::ConstPtr& depth);

    message_filters::Subscriber<sensor_msgs::Image> color_sub_;
    message_filters::Subscriber<sensor_msgs::Image> depth_sub_;
    // 严格相同
    message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image> sync_{10};
    // 近似相同
    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy;
    message_filters::Synchronizer<MySyncPolicy> sync{MySyncPolicy(10)};
};

void LWD::dep2color(const sensor_msgs::ImageConstPtr& imag, const sensor_msgs::Image::ConstPtr& depth){}

void LWD::cb(const sensor_msgs::ImageConstPtr& imag, const sensor_msgs::Image::ConstPtr& depth) {
    ROS_INFO("success");
}

int main(int argc, char** argv) {
    ros::init(argc, argv, "listener");
    ros::NodeHandle n;
    LWD can;
    can.Init(n);
    ros::spin();
    return 0;
}