pcl_projection.cpp File Reference

#include "velo2cam_utils.h"
#include <ros/ros.h>
#include "ros/package.h"
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/passthrough.h>
#include <pcl_ros/transforms.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/CameraInfo.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>

Include dependency graph for pcl_projection.cpp:

Go to the source code of this file.

Classes
struct	COLOUR

Macros
#define	DEBUG   1

Functions
void	callback (const PointCloud2::ConstPtr &pcl_msg, const CameraInfoConstPtr &cinfo_msg, const ImageConstPtr &image_msg)
COLOUR	GetColour (double v, double vmin, double vmax)
int	main (int argc, char **argv)
void	projectionAsMatrix (const CameraInfoConstPtr &cinfo_msg, Eigen::Matrix4f &out_mat)
void	transformAsMatrix (const tf::Transform &bt, Eigen::Matrix4f &out_mat)

Variables
image_transport::Publisher	pub

Macro Definition Documentation

#define DEBUG   1

Definition at line 25 of file pcl_projection.cpp.

Function Documentation

void callback	(	const PointCloud2::ConstPtr &	pcl_msg,
		const CameraInfoConstPtr &	cinfo_msg,
		const ImageConstPtr &	image_msg
	)

Definition at line 111 of file pcl_projection.cpp.

COLOUR GetColour	(	double	v,
		double	vmin,
		double	vmax
	)

Definition at line 55 of file pcl_projection.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 191 of file pcl_projection.cpp.

void projectionAsMatrix	(	const CameraInfoConstPtr &	cinfo_msg,
		Eigen::Matrix4f &	out_mat
	)

Definition at line 100 of file pcl_projection.cpp.

void transformAsMatrix	(	const tf::Transform &	bt,
		Eigen::Matrix4f &	out_mat
	)

Definition at line 82 of file pcl_projection.cpp.

Variable Documentation

image_transport::Publisher pub

Definition at line 48 of file pcl_projection.cpp.