00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 the Willow Garage 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 00035 00036 #include "laser_assembler/base_assembler.h" 00037 #include <sensor_msgs/point_cloud_conversion.h> 00038 00039 using namespace std ; 00040 00041 namespace laser_assembler 00042 { 00043 00050 class PointCloud2Assembler : public BaseAssembler<sensor_msgs::PointCloud2> 00051 { 00052 public: 00053 PointCloud2Assembler() : BaseAssembler<sensor_msgs::PointCloud2>("max_clouds") 00054 { 00055 00056 } 00057 00058 ~PointCloud2Assembler() 00059 { 00060 00061 } 00062 00063 unsigned int GetPointsInScan(const sensor_msgs::PointCloud2& scan) 00064 { 00065 return (scan.width * scan.height); 00066 } 00067 00068 void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud2& scan_in, sensor_msgs::PointCloud& cloud_out) 00069 { 00070 sensor_msgs::PointCloud cloud_in; 00071 sensor_msgs::convertPointCloud2ToPointCloud(scan_in, cloud_in); 00072 tf_->transformPointCloud(fixed_frame_id, cloud_in, cloud_out) ; 00073 return ; 00074 } 00075 00076 private: 00077 00078 }; 00079 00080 } 00081 00082 using namespace laser_assembler ; 00083 00084 int main(int argc, char **argv) 00085 { 00086 ros::init(argc, argv, "point_cloud_assembler"); 00087 PointCloud2Assembler pc_assembler; 00088 pc_assembler.start("cloud"); 00089 ros::spin(); 00090 00091 return 0; 00092 }