visualization_utils.h File Reference

#include <rclcpp/rclcpp.hpp>
#include <cv_bridge/cv_bridge.h>
#include <chrono>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <rtabmap/core/SensorData.h>
#include <image_geometry/pinhole_camera_model.h>
#include <cslam_common_interfaces/msg/keyframe_odom.hpp>
#include <deque>
#include <functional>
#include <thread>
#include <memory>
#include <rtabmap_conversions/MsgConversion.h>
#include "cslam/front_end/utils/depth_traits.h"

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Namespaces
	cslam

Functions
sensor_msgs::msg::PointCloud2	cslam::create_colored_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, const std_msgs::msg::Header &header)
	Create a colored pointcloud message. More...
template<typename T >
void	cslam::depth_image_to_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, sensor_msgs::msg::PointCloud2::SharedPtr &cloud_msg, const image_geometry::PinholeCameraModel &model, double range_max=0.0)
	Convert depth image to pointcloud. More...
void	cslam::add_rgb_to_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, sensor_msgs::msg::PointCloud2::SharedPtr &cloud_msg)
	Add color to pointcloud. More...