#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?std;

const?double?camera_factor=1000;
const?double?camera_cx=325.5;
const?double?camera_cy=253.5;
const?double?camera_fx=518.0;
const?double?camera_fy=519.0;


int?main（int?argc?char?**argv）
{
??ros::init（argc?argv?“img2join“）;
??ros::NodeHandle?nh;

??ros::Publisher?pub=nh.advertise（“img_join“1）;

??cv::Mat?rgbdepth;
??rgb=cv::imread（“/home/qy/dev/qtcatkin_cam/src/plc/data/rgb/1.png“）;
??depth=cv::imread（“/home/qy/dev/qtcatkin_cam/src/plc/data/depth/1.png“-1）;
??cv::imshow（“aa“rgb）;
??cv::waitKey（30）;
??sensor_msgs::PointCloud2?out;
??pcl::PointCloud?cloud1;
??pcl::PointCloud?cloud2;
??pcl::PointCloud?cloud3;

??//?遍歷深度圖
??for?（int?m?=?0;?m???????for?（int?n=0;?n???????{
??????????//?獲取深度圖中（mn）處的值
??????????ushort?d?=?depth.ptr（m）[n];
??????????//?d?可能沒有值，若如此，跳過此點
??????????