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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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 /* ]--- */


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:30