convert_pcd_to_image.cpp
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00001 /*
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00034  * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
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00036  */
00037 
00049 #include <ros/ros.h>
00050 #include <sensor_msgs/Image.h>
00051 #include <pcl/io/io.h>
00052 #include <pcl/io/pcd_io.h>
00053 #include <pcl/point_types.h>
00054 
00055 /* ---[ */
00056 int
00057 main (int argc, char **argv)
00058 {
00059   ros::init (argc, argv, "image_publisher");
00060   ros::NodeHandle nh;
00061   ros::Publisher image_pub = nh.advertise <sensor_msgs::Image> ("output", 1);
00062 
00063   if (argc != 2)
00064   {
00065     std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl;
00066     return 1;
00067   }
00068 
00069   sensor_msgs::Image image;
00070   sensor_msgs::PointCloud2 cloud;
00071   pcl::io::loadPCDFile (std::string (argv[1]), cloud);
00072 
00073   try
00074   {
00075     pcl::toROSMsg (cloud, image); //convert the cloud
00076   }
00077   catch (std::runtime_error e)
00078   {
00079     ROS_ERROR_STREAM("Error in converting cloud to image message: "
00080                             << e.what());
00081     return 1; //fail!
00082   }
00083   ros::Rate loop_rate (5);
00084   while (nh.ok ())
00085   {
00086     image_pub.publish (image);
00087     ros::spinOnce ();
00088     loop_rate.sleep ();
00089   }
00090 
00091   return (0);
00092 }
00093 
00094 /* ]--- */
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:40