Method projectPointCloud

src/ImageProjection.cpp:416–437

    }

    void projectPointCloud()
    {
        int cloudSize = laserCloudIn->points.size();
        // fullCloud->resize(cloudSize);
        fullCloud->clear();
        for (int i = 0; i < cloudSize; ++i)
        {
            PointType thisPoint = laserCloudIn->points[i];

            // 去除过近或过远的点
            float range = pointDistance(thisPoint);
            //               1.0                    200.0
            if (range < lidarMinRange_0 || range > lidarMaxRange_0)
                continue;

            // 对点云中的每个点进行　畸变校正
            thisPoint = deskewPoint(&thisPoint, laserCloudIn->points[i].time);

            // fullCloud->points[i] = thisPoint;
            fullCloud->push_back(thisPoint);
        }
    }

    void RGBpointAssociateToMap(PointType const *const pi,
                            pcl::PointXYZRGB *const po) {