points_to_camera.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sensor_msgs/image_encodings.h>
#include <driver_base/driver.h>
#include <camera_info_manager/camera_info_manager.h>
#include <tf/transform_broadcaster.h>

using namespace std;

class CameraProjection
{
    public:
        
        CameraProjection(ros::NodeHandle& nh_):
        nh(nh_),
        it(nh_)
        {
            sub_image = it.subscribe("image_raw", 1, &CameraProjection::imageHandler,this);
            
        }
  
        void imageHandler(const sensor_msgs::ImageConstPtr& msg)
        {
            cout<<"Received image: short/left"<<endl;
            
            cv_bridge::CvImagePtr cv_ptr;
            
            try
            {
                cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
            }
            catch (cv_bridge::Exception& e)
            {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
            }
            
            
            

            
        }

        ros::NodeHandle nh;
        image_transport::ImageTransport it;
        
        sensor_msgs::Image image;
        
        image_transport::Subscriber sub_image;
};

int main(int argc, char** argv)
{
    ros::init(argc, argv, "camera_projection");
    ros::NodeHandle node;

    CameraProjection camera_projection(node);
    
    ros::spin();
 
    return 0;
}