#include <cstdlib>
#include <cstdio>
#include <math.h>
#include <algorithm>
#include <map>
#include "opencv2/opencv.hpp"
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <camera_info_manager/camera_info_manager.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <pcl_ros/point_cloud.h>
#include <boost/foreach.hpp>
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/common/eigen.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/passthrough.h>
#include "lidar_camera_calibration/Corners.h"
#include "lidar_camera_calibration/PreprocessUtils.h"
#include "lidar_camera_calibration/Find_RT.h"
#include "lidar_camera_calibration/marker_6dof.h"

Include dependency graph for find_velodyne_points.cpp:

Functions
void	callback (const sensor_msgs::CameraInfoConstPtr &msg_info, const sensor_msgs::PointCloud2ConstPtr &msg_pc, const lidar_camera_calibration::marker_6dof::ConstPtr &msg_rt)

void	callback_noCam (const sensor_msgs::PointCloud2ConstPtr &msg_pc, const lidar_camera_calibration::marker_6dof::ConstPtr &msg_rt)

int	main (int argc, char **argv)

Variables
string	CAMERA_INFO_TOPIC

Eigen::Matrix3d	lidarToCamera

pcl::PointCloud< myPointXYZRID >	point_cloud

Hesai::PointCloud	point_cloud_hesai

Mat	projection_matrix

Eigen::Quaterniond	qlidarToCamera

string	VELODYNE_TOPIC

Function Documentation

void callback	(	const sensor_msgs::CameraInfoConstPtr &	msg_info,
		const sensor_msgs::PointCloud2ConstPtr &	msg_pc,
		const lidar_camera_calibration::marker_6dof::ConstPtr &	msg_rt
	)

Definition at line 104 of file find_velodyne_points.cpp.

void callback_noCam	(	const sensor_msgs::PointCloud2ConstPtr &	msg_pc,
		const lidar_camera_calibration::marker_6dof::ConstPtr &	msg_rt
	)

Definition at line 57 of file find_velodyne_points.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 160 of file find_velodyne_points.cpp.

Variable Documentation

string CAMERA_INFO_TOPIC

Definition at line 44 of file find_velodyne_points.cpp.

Eigen::Matrix3d lidarToCamera

Definition at line 54 of file find_velodyne_points.cpp.

pcl::PointCloud<myPointXYZRID> point_cloud

Definition at line 50 of file find_velodyne_points.cpp.

Hesai::PointCloud point_cloud_hesai

Definition at line 51 of file find_velodyne_points.cpp.

Mat projection_matrix

Definition at line 48 of file find_velodyne_points.cpp.

Eigen::Quaterniond qlidarToCamera

Definition at line 53 of file find_velodyne_points.cpp.

string VELODYNE_TOPIC

Definition at line 45 of file find_velodyne_points.cpp.

Functions

Variables

Function Documentation

Variable Documentation