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 //pcl::toROSMsg
00046 #include <pcl/io/pcd_io.h>
00047 //stl stuff
00048 #include <string>
00049 
00050 class PointCloudToImage
00051 {
00052 public:
00053   void
00054   cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
00055   {
00056     if ((cloud->width * cloud->height) == 0)
00057       return; //return if the cloud is not dense!
00058     try
00059     {
00060       pcl::toROSMsg (*cloud, image_); //convert the cloud
00061     }
00062     catch (std::runtime_error e)
00063     {
00064       ROS_ERROR_STREAM("Error in converting cloud to image message: "
00065                         << e.what());
00066     }
00067     image_pub_.publish (image_); //publish our cloud image
00068   }
00069   PointCloudToImage () : cloud_topic_("input"),image_topic_("output")
00070   {
00071     sub_ = nh_.subscribe (cloud_topic_, 30,
00072                           &PointCloudToImage::cloud_cb, this);
00073     image_pub_ = nh_.advertise<sensor_msgs::Image> (image_topic_, 30);
00074 
00075     //print some info about the node
00076     std::string r_ct = nh_.resolveName (cloud_topic_);
00077     std::string r_it = nh_.resolveName (image_topic_);
00078     ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct );
00079     ROS_INFO_STREAM("Publishing image on topic " << r_it );
00080   }
00081 private:
00082   ros::NodeHandle nh_;
00083   sensor_msgs::Image image_; //cache the image message
00084   std::string cloud_topic_; //default input
00085   std::string image_topic_; //default output
00086   ros::Subscriber sub_; //cloud subscriber
00087   ros::Publisher image_pub_; //image message publisher
00088 };
00089 
00090 int
00091 main (int argc, char **argv)
00092 {
00093   ros::init (argc, argv, "convert_pointcloud_to_image");
00094   PointCloudToImage pci; //this loads up the node
00095   ros::spin (); //where she stops nobody knows
00096   return 0;
00097 }
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:40