greenhouse/pcl_ros/tools/convert_pcd_to_image.cpp

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 * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
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/**
 \author Ethan Rublee

 @b convert a pcd to an image file
 run with:
   rosrun pcl convert_pcd_image cloud_00042.pcd
 It will publish a ros image message on /pcd/image
 View the image with:
    rosrun image_view image_view image:=/pcd/image
 **/

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <string>

/* ---[ */
int
main(int argc, char ** argv)
{
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh;
  ros::Publisher image_pub = nh.advertise<sensor_msgs::Image>("output", 1);

  if (argc != 2) {
    std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl;
    return 1;
  }

  sensor_msgs::Image image;
  sensor_msgs::PointCloud2 cloud;
  pcl::io::loadPCDFile(std::string(argv[1]), cloud);

  try {
    pcl::toROSMsg(cloud, image);  // convert the cloud
  } catch (std::runtime_error & e) {
    ROS_ERROR_STREAM(
      "Error in converting cloud to image message: " <<
        e.what());
    return 1;  // fail!
  }
  ros::Rate loop_rate(5);
  while (nh.ok()) {
    image_pub.publish(image);
    ros::spinOnce();
    loop_rate.sleep();
  }

  return 0;
}

/* ]--- */