pcl_converter.cpp File Reference

PointCloud to depth image converter as well as Pointcloud to csv Copyright (C) 2019, Ing.-Buero Dr. Michael Lehning, Hildesheim Copyright (C) 2019, SICK AG, Waldkirch All rights reserved. More...

#include <ros/ros.h>
#include <ros/package.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <math.h>
#include "pcl_converter/gnuplotPaletteReader.h"

Include dependency graph for pcl_converter.cpp:

Go to the source code of this file.

Classes
class	ParamSettings

Functions
void	argUsage ()
void	cloud2image_cb (const sensor_msgs::PointCloud2ConstPtr &cloud)
	Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format. More...
void	dump2csv (const sensor_msgs::PointCloud2ConstPtr &cloud, int x_offset, int y_offset, int z_offset)
int	main (int argc, char **argv)

Variables
bool	ignoreIntensityMissing = true
double	maxRange = 0.00
float	maxRangeGreyVal = 255.99
double	minRange = 255.99 * 0.25
float	minRangeGreyVal = 0.0
int	numEchoOutput = 1
GnuPlotPalette	pal
ParamSettings	paramSettings
ros::Publisher	pub
bool	usingPal = false

Detailed Description

PointCloud to depth image converter as well as Pointcloud to csv Copyright (C) 2019, Ing.-Buero Dr. Michael Lehning, Hildesheim Copyright (C) 2019, SICK AG, Waldkirch All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright
  notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
  notice, this list of conditions and the following disclaimer in the
  documentation and/or other materials provided with the distribution.
* Neither the name of Osnabrück University nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.
* Neither the name of SICK AG nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission
* Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Last modified: 10th Jan 2019

Authors:
   Michael Lehning <michael.lehning@lehning.de>

Definition in file pcl_converter.cpp.

Function Documentation

void argUsage

(

)

Definition at line 382 of file pcl_converter.cpp.

void cloud2image_cb

(

const sensor_msgs::PointCloud2ConstPtr &

cloud

)

Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format.

Parameters

cloud	the point cloud message
msg	the resultant pcl::PCLImage will throw std::runtime_error if there is a problem http://wiki.ros.org/perception_pcl pcl_conversions.h

Definition at line 139 of file pcl_converter.cpp.

void dump2csv	(	const sensor_msgs::PointCloud2ConstPtr &	cloud,
		int	x_offset,
		int	y_offset,
		int	z_offset
	)

Definition at line 92 of file pcl_converter.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 388 of file pcl_converter.cpp.

Variable Documentation

bool ignoreIntensityMissing = true

Definition at line 63 of file pcl_converter.cpp.

double maxRange = 0.00

Definition at line 66 of file pcl_converter.cpp.

float maxRangeGreyVal = 255.99

Definition at line 68 of file pcl_converter.cpp.

double minRange = 255.99 * 0.25

Definition at line 65 of file pcl_converter.cpp.

float minRangeGreyVal = 0.0

Definition at line 67 of file pcl_converter.cpp.

int numEchoOutput = 1

Definition at line 70 of file pcl_converter.cpp.

GnuPlotPalette pal

Definition at line 60 of file pcl_converter.cpp.

ParamSettings paramSettings

Definition at line 89 of file pcl_converter.cpp.

ros::Publisher pub

Definition at line 58 of file pcl_converter.cpp.

bool usingPal = false

Definition at line 61 of file pcl_converter.cpp.