Skip to content

add option to override message frame IDs #15

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nathanhhughes merged 1 commit into from
Jul 31, 2025
Merged

add option to override message frame IDs #15

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 8 additions & 2 deletions semantic_inference_ros/src/backprojection_nodelet.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@ struct BackprojectionNode : public rclcpp::Node {
size_t input_queue_size = 1;
size_t output_queue_size = 1;
bool show_config = true;
std::string camera_frame;
std::string lidar_frame;
} const config;

explicit BackprojectionNode(const rclcpp::NodeOptions& options);
Expand Down Expand Up @@ -69,6 +71,8 @@ void declare_config(BackprojectionNode::Config& config) {
field(config.input_queue_size, "input_queue_size");
field(config.output_queue_size, "output_queue_size");
field(config.show_config, "show_config");
field(config.camera_frame, "camera_frame");
field(config.lidar_frame, "lidar_frame");
check(config.input_queue_size, GT, 0, "input_queue_size");
check(config.output_queue_size, GT, 0, "output_queue_size");
}
Expand Down Expand Up @@ -125,8 +129,10 @@ void BackprojectionNode::callback(const Image::ConstSharedPtr& image_msg,
const PointCloud2::ConstSharedPtr& cloud_msg) {
// Find transform from cloud to image frame
const rclcpp::Time stamp(cloud_msg->header.stamp);
const auto image_T_cloud =
getTransform(image_msg->header.frame_id, cloud_msg->header.frame_id, stamp);
const auto image_T_cloud = getTransform(
!config.camera_frame.empty() ? config.camera_frame : image_msg->header.frame_id,
!config.lidar_frame.empty() ? config.lidar_frame : cloud_msg->header.frame_id,
stamp);
if (!image_T_cloud) {
return;
}
Expand Down