Method RGBpointAssociateToMap

src/ImageProjection.cpp:439–467

    }

    void RGBpointAssociateToMap(PointType const *const pi,
                            pcl::PointXYZRGB *const po) {
        Eigen::Vector3d point_curr(pi->x, pi->y, pi->z);
        po->x = point_curr.x();
        po->y = point_curr.y();
        po->z = point_curr.z();
        int reflection_map = (int)pi->intensity;
        if (reflection_map < 30) {
            int green = (reflection_map * 255 / 30);
            po->r = 0;
            po->g = green & 0xff;
            po->b = 0xff;
        } else if (reflection_map < 90) {
            int blue = (((90 - reflection_map) * 255) / 60);
            po->r = 0x0;
            po->g = 0xff;
            po->b = blue & 0xff;
        } else if (reflection_map < 150) {
            int red = ((reflection_map - 90) * 255 / 60);
            po->r = red & 0xff;
            po->g = 0xff;
            po->b = 0x0;
        } else {
            int green = (((255 - reflection_map) * 255) / (255 - 150));
            po->r = 0xff;
            po->g = green & 0xff;
            po->b = 0;
        }
    }

    // 将点云封装成cloud_info并发布
    void publishClouds()