rgbd2cloud.cpp File Reference

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <string>
#include <ros/ros.h>
#include <pcl/io/io.h>
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"

Include dependency graph for rgbd2cloud.cpp:

Go to the source code of this file.

Classes
union	RGBValue
Typedefs
typedef mf::sync_policies::ApproximateTime < sm::Image, sm::Image, sm::CameraInfo >	NoCloudSyncPolicy
typedef pcl::PointXYZRGB	point_type
typedef pcl::PointCloud < point_type >	pointcloud_type
Functions
pointcloud_type *	createPointCloud (const sm::ImageConstPtr &depth_msg, const sm::ImageConstPtr &rgb_msg, const sm::CameraInfoConstPtr &cam_info)
int	main (int argc, char **argv)
void	rgbd_callback (const sm::ImageConstPtr &rgbimage, const sm::ImageConstPtr &dimage, const sm::CameraInfoConstPtr &cam_info, ros::Publisher *cloud_pub)

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Typedef Documentation

typedef mf::sync_policies::ApproximateTime<sm::Image, sm::Image, sm::CameraInfo> NoCloudSyncPolicy

Definition at line 20 of file rgbd2cloud.cpp.

typedef pcl::PointXYZRGB point_type

Definition at line 18 of file rgbd2cloud.cpp.

typedef pcl::PointCloud<point_type> pointcloud_type

Definition at line 19 of file rgbd2cloud.cpp.

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Function Documentation

pointcloud_type* createPointCloud	(	const sm::ImageConstPtr &	depth_msg,
		const sm::ImageConstPtr &	rgb_msg,
		const sm::CameraInfoConstPtr &	cam_info
	)

Reconstruct 3D data from intrinsic camera calibration and depth

Definition at line 37 of file rgbd2cloud.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 125 of file rgbd2cloud.cpp.

void rgbd_callback	(	const sm::ImageConstPtr &	rgbimage,
		const sm::ImageConstPtr &	dimage,
		const sm::CameraInfoConstPtr &	cam_info,
		ros::Publisher *	cloud_pub
	)

Definition at line 113 of file rgbd2cloud.cpp.