jsk_pcl_ros_utils: sample_cluster_indices_publisher_from

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00001 #!/usr/bin/env python
00002 
00003 from jsk_recognition_msgs.msg import ClusterPointIndices
00004 from jsk_recognition_msgs.msg import PolygonArray
00005 from pcl_msgs.msg import PointIndices
00006 import rospy
00007 
00008 
00009 def cb(msg):
00010     out_msg = ClusterPointIndices()
00011     out_msg.header = msg.header
00012     for _ in range(len(msg.polygons)):
00013         indices = PointIndices()
00014         out_msg.cluster_indices.append(indices)
00015     pub.publish(out_msg)
00016 
00017 
00018 if __name__ == '__main__':
00019     rospy.init_node('sample_cluster_indices_publisher_from_polygons')
00020     pub = rospy.Publisher('~output', ClusterPointIndices, queue_size=1)
00021     sub = rospy.Subscriber('~input', PolygonArray, cb, queue_size=1)
00022     rospy.spin()