Method cloudHandler

src/ImageProjection.cpp:143–166

    }

    void cloudHandler(const faster_lio_sam::merge_cloud::ConstPtr& mergeLaserCloudMsg)
    {
        std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();

        if (!cachePointCloud(mergeLaserCloudMsg))
            return;

        // 获取当前点云持续时间的旋转平移
        // 旋转的角速度由imu积分得到，平移量由里程计得到
        if (!deskewInfo())
            return;

        // 点云整理索引、矫正畸变
        projectPointCloud();

        // 发布预处理后的点云
        publishClouds();

        resetParameters();

        std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
        std::chrono::duration<double> time_used = std::chrono::duration_cast<std::chrono::duration<double>>(t2 - t1);
        ROS_DEBUG("solve time cost = %f seconds.", time_used.count());
    }

    // 缓存点云消息，转换成pcl类型点云，记录时间戳，去除无效点
    bool cachePointCloud(const faster_lio_sam::merge_cloud::ConstPtr& laserCloudMsg)