convert_pcd_to_image.cpp

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 * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
 *
 */

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

/* ---[ */
int
main (int argc, char **argv)
{
  ros::init (argc, argv, "image_publisher");
  ros::NodeHandle nh;
  ros::Publisher image_pub = nh.advertise <sensor_msgs::Image> ("output", 1);

  if (argc != 2)
  {
    std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl;
    return 1;
  }

  sensor_msgs::Image image;
  sensor_msgs::PointCloud2 cloud;
  pcl::io::loadPCDFile (std::string (argv[1]), cloud);

  try
  {
    pcl::toROSMsg (cloud, image); //convert the cloud
  }
  catch (std::runtime_error &e)
  {
    ROS_ERROR_STREAM("Error in converting cloud to image message: "
                            << e.what());
    return 1; //fail!
  }
  ros::Rate loop_rate (5);
  while (nh.ok ())
  {
    image_pub.publish (image);
    ros::spinOnce ();
    loop_rate.sleep ();
  }

  return (0);
}

/* ]--- */