convert_pointcloud_to_image.cpp
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00001 /*
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00034  * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
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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 }


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Jun 6 2019 21:01:44