#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:

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

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

  http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

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 Osnabrueck 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

◆ argUsage()

void argUsage ( )

Definition at line 397 of file pcl_converter.cpp.

◆ cloud2image_cb()

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 154 of file pcl_converter.cpp.

◆ dump2csv()

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

Definition at line 107 of file pcl_converter.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 403 of file pcl_converter.cpp.

Variable Documentation

◆ ignoreIntensityMissing

bool ignoreIntensityMissing = true

Definition at line 78 of file pcl_converter.cpp.

◆ maxRange

double maxRange = 0.00

Definition at line 81 of file pcl_converter.cpp.

◆ maxRangeGreyVal

float maxRangeGreyVal = 255.99

Definition at line 83 of file pcl_converter.cpp.

◆ minRange

double minRange = 255.99 * 0.25

Definition at line 80 of file pcl_converter.cpp.

◆ minRangeGreyVal

float minRangeGreyVal = 0.0

Definition at line 82 of file pcl_converter.cpp.

◆ numEchoOutput

int numEchoOutput = 1

Definition at line 85 of file pcl_converter.cpp.

◆ pal

GnuPlotPalette pal

Definition at line 75 of file pcl_converter.cpp.

◆ paramSettings

ParamSettings paramSettings

Definition at line 104 of file pcl_converter.cpp.

◆ pub

ros::Publisher pub

Definition at line 73 of file pcl_converter.cpp.

◆ usingPal

bool usingPal = false

Definition at line 76 of file pcl_converter.cpp.

Classes

Functions

Variables