visualization_utils.h

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#ifndef _VISUALIZATION_UTILS_H_
#define _VISUALIZATION_UTILS_H_
 
#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"
 
namespace cslam
{
    sensor_msgs::msg::PointCloud2 create_colored_pointcloud(const std::shared_ptr<rtabmap::SensorData> &sensor_data, const std_msgs::msg::Header &header);
 
    template <typename T>
    void 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);
 
    void add_rgb_to_pointcloud(
        const std::shared_ptr<rtabmap::SensorData> &sensor_data,
        sensor_msgs::msg::PointCloud2::SharedPtr &cloud_msg);
 
} // namespace cslam
#endif