35 #define BOOST_PARAMETER_MAX_ARITY 7 46 DiagnosticNodelet::onInit();
47 pub_ = advertise<sensor_msgs::PointCloud2>(*
pnh_,
"output", 1);
64 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_xyzrgb(
new pcl::PointCloud<pcl::PointXYZRGB>);
67 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(
new pcl::PointCloud<pcl::PointXYZ>);
68 cloud_xyz->points.resize(cloud_xyzrgb->points.size());
69 cloud_xyz->is_dense = cloud_xyzrgb->is_dense;
70 cloud_xyz->width = cloud_xyzrgb->width;
71 cloud_xyz->height = cloud_xyzrgb->height;
72 for (
size_t i = 0; i < cloud_xyzrgb->points.size(); i++) {
74 p.x = cloud_xyzrgb->points[i].x;
75 p.y = cloud_xyzrgb->points[i].y;
76 p.z = cloud_xyzrgb->points[i].z;
77 cloud_xyz->points[i] = p;
79 sensor_msgs::PointCloud2 out_cloud_msg;
81 out_cloud_msg.header = cloud_msg->header;
virtual void unsubscribe()
void publish(const boost::shared_ptr< M > &message) const
void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud< T > &pcl_cloud)
PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros_utils::PointCloudXYZRGBToXYZ, nodelet::Nodelet)
void toROSMsg(const pcl::PointCloud< T > &pcl_cloud, sensor_msgs::PointCloud2 &cloud)
virtual void convert(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)