00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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 Willow Garage, Inc. 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 * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $ 00035 * 00036 */ 00037 00041 // ROS core 00042 #include <ros/ros.h> 00043 //Image message 00044 #include <sensor_msgs/Image.h> 00045 #include <sensor_msgs/PointCloud2.h> 00046 //pcl::toROSMsg 00047 #include <pcl/io/pcd_io.h> 00048 //conversions from PCL custom types 00049 #include <pcl_conversions/pcl_conversions.h> 00050 //stl stuff 00051 #include <string> 00052 00053 class PointCloudToImage 00054 { 00055 public: 00056 void 00057 cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud) 00058 { 00059 if ((cloud->width * cloud->height) == 0) 00060 return; //return if the cloud is not dense! 00061 try 00062 { 00063 pcl::toROSMsg (*cloud, image_); //convert the cloud 00064 } 00065 catch (std::runtime_error &e) 00066 { 00067 ROS_ERROR_STREAM("Error in converting cloud to image message: " 00068 << e.what()); 00069 } 00070 image_pub_.publish (image_); //publish our cloud image 00071 } 00072 PointCloudToImage () : cloud_topic_("input"),image_topic_("output") 00073 { 00074 sub_ = nh_.subscribe (cloud_topic_, 30, 00075 &PointCloudToImage::cloud_cb, this); 00076 image_pub_ = nh_.advertise<sensor_msgs::Image> (image_topic_, 30); 00077 00078 //print some info about the node 00079 std::string r_ct = nh_.resolveName (cloud_topic_); 00080 std::string r_it = nh_.resolveName (image_topic_); 00081 ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct ); 00082 ROS_INFO_STREAM("Publishing image on topic " << r_it ); 00083 } 00084 private: 00085 ros::NodeHandle nh_; 00086 sensor_msgs::Image image_; //cache the image message 00087 std::string cloud_topic_; //default input 00088 std::string image_topic_; //default output 00089 ros::Subscriber sub_; //cloud subscriber 00090 ros::Publisher image_pub_; //image message publisher 00091 }; 00092 00093 int 00094 main (int argc, char **argv) 00095 { 00096 ros::init (argc, argv, "convert_pointcloud_to_image"); 00097 PointCloudToImage pci; //this loads up the node 00098 ros::spin (); //where she stops nobody knows 00099 return 0; 00100 }