00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $ 00035 * 00036 */ 00037 00049 #include <ros/ros.h> 00050 #include <sensor_msgs/Image.h> 00051 #include <sensor_msgs/PointCloud2.h> 00052 #include <pcl/io/io.h> 00053 #include <pcl/io/pcd_io.h> 00054 #include <pcl/point_types.h> 00055 #include <pcl_conversions/pcl_conversions.h> 00056 00057 /* ---[ */ 00058 int 00059 main (int argc, char **argv) 00060 { 00061 ros::init (argc, argv, "image_publisher"); 00062 ros::NodeHandle nh; 00063 ros::Publisher image_pub = nh.advertise <sensor_msgs::Image> ("output", 1); 00064 00065 if (argc != 2) 00066 { 00067 std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl; 00068 return 1; 00069 } 00070 00071 sensor_msgs::Image image; 00072 sensor_msgs::PointCloud2 cloud; 00073 pcl::io::loadPCDFile (std::string (argv[1]), cloud); 00074 00075 try 00076 { 00077 pcl::toROSMsg (cloud, image); //convert the cloud 00078 } 00079 catch (std::runtime_error &e) 00080 { 00081 ROS_ERROR_STREAM("Error in converting cloud to image message: " 00082 << e.what()); 00083 return 1; //fail! 00084 } 00085 ros::Rate loop_rate (5); 00086 while (nh.ok ()) 00087 { 00088 image_pub.publish (image); 00089 ros::spinOnce (); 00090 loop_rate.sleep (); 00091 } 00092 00093 return (0); 00094 } 00095 00096 /* ]--- */