Go to the documentation of this file.00001 #include "pcl/pcl_base.h"
00002 #include "jsk_pcl_ros/point_types.h"
00003 #include "jsk_pcl_ros/color_converter.h"
00004
00005 #include <ros/ros.h>
00006 #include <sensor_msgs/PointCloud2.h>
00007
00008 void callback(const sensor_msgs::PointCloud2::ConstPtr& msg)
00009 {
00010 pcl::PointCloud<pcl::PointHSV> cloud;
00011 pcl::fromROSMsg(*msg, cloud);
00012 for (size_t i = 0; i < cloud.points.size(); i++)
00013 {
00014 pcl::PointHSV point = cloud.points[i];
00015 std::cout << "h: " << point.hue << "s: " << point.saturation
00016 << "v: " << point.value << std::endl;
00017 }
00018 }
00019
00020 int main(int argc, char** argv)
00021 {
00022 ros::init(argc, argv, "hoge");
00023 ros::NodeHandle n;
00024
00025 ros::Subscriber sub = n.subscribe("input", 1, callback);
00026 ros::spin();
00027 return 0;
00028 }