int x = std::min(std::max(int(texcoords.u*w + .5f), 0), w - 1); int y = std::min(std::max(int(texcoords.v*h + .5f), 0), h - 1); ...

Run the following to clone the lidar_camera_calibration package in ros_workspace/src directory. cd ~/ros_workspace/src git clone https://github.com/heethesh/lidar ...