Passthrough.cpp
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00001 #include <ros/ros.h>
00002 #include <pcl_ros/point_cloud.h>
00003 #include <pcl/point_types.h>
00004  
00005 #include <iostream>
00006 #include "pcl/io/pcd_io.h"
00007 
00008 #include "ClearpathPointCloudTools.h"
00009 
00010 typedef pcl::PointXYZRGB PointType;
00011 typedef pcl::PointCloud<PointType> PointCloud;
00012 
00013 ros::Publisher pub;
00014 
00015 double dist = 0.0;
00016 
00017 void callback(const PointCloud::ConstPtr& cloud)
00018 {
00019     PointCloud result;
00020     ClearpathPointCloudTools::PassthroughPointCloud((PointCloud*)&(*cloud), &result, dist);
00021     pub.publish (result);
00022 }
00023 
00024 int main(int argc, char** argv)
00025 {
00026     ros::init (argc, argv, "passthrough_default");
00027     
00028     ros::NodeHandle nh = ros::NodeHandle(ros::this_node::getName());
00029     std::string in, out;
00030     nh.param<std::string>("in", in, "passthrough_in");
00031     nh.param<std::string>("out", out, "passthrough_out");
00032     nh.param<double>("dist", dist, 1.0);
00033 
00034     ros::NodeHandle nx;
00035     ros::Subscriber sub = nx.subscribe<PointCloud>(in, 1, callback);
00036     pub = nx.advertise<PointCloud> (out, 1);
00037 
00038     ros::spin();
00039 
00040     return (0);
00041 }
00042 
00043 
00044 


clearpath_tools
Author(s): Sean Anderson
autogenerated on Sun Oct 5 2014 22:52:30