Method ImageProjection

src/ImageProjection.cpp:65–79

public:
    ImageProjection():deskewFlag(0)
    {
        subImu        = nh.subscribe<sensor_msgs::Imu>(imuTopic, 2000, &ImageProjection::imuHandler, this, ros::TransportHints().tcpNoDelay());
        subOdom       = nh.subscribe<nav_msgs::Odometry>(odomTopic+"_incremental", 2000, &ImageProjection::odometryHandler, this, ros::TransportHints().tcpNoDelay());
        subLaserCloud = nh.subscribe<faster_lio_sam::merge_cloud>("/livox_merge_pcl0", 5, &ImageProjection::cloudHandler, this, ros::TransportHints().tcpNoDelay());
        subImuBias    = nh.subscribe<std_msgs::Float64MultiArray>("lio_sam/imu/bias", 5, &ImageProjection::imuBiasHandler, this, ros::TransportHints().tcpNoDelay());

        pubOriginalCloud = nh.advertise<sensor_msgs::PointCloud2> ("lio_sam/deskew/cloud_original", 1);
        pubExtractedCloud = nh.advertise<sensor_msgs::PointCloud2> ("lio_sam/deskew/cloud_deskewed", 1);
        pubExtractedCloudRGB = nh.advertise<sensor_msgs::PointCloud2> ("lio_sam/deskew/cloud_deskewed_rgb", 1);
        pubLaserCloudInfo = nh.advertise<faster_lio_sam::cloud_info> ("lio_sam/deskew/cloud_info", 1);

        allocateMemory();
        resetParameters();
    }

    void allocateMemory(){
        laserCloudIn.reset(new PointCloudXYZIT);