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 * $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
 *
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/**
 \author Ethan Rublee
 **/
// ROS core
#include <ros/ros.h>
// Image message
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
// pcl::toROSMsg
#include <pcl/io/pcd_io.h>
// conversions from PCL custom types
#include <pcl_conversions/pcl_conversions.h>
// stl stuff
#include <string>

class PointCloudToImage
{
public:
  void
  cloud_cb(const sensor_msgs::PointCloud2ConstPtr & cloud)
  {
    if (cloud->height <= 1) {
      ROS_ERROR("Input point cloud is not organized, ignoring!");
      return;
    }
    try {
      pcl::toROSMsg(*cloud, image_);  // convert the cloud
      image_.header = cloud->header;
      image_pub_.publish(image_);  // publish our cloud image
    } catch (std::runtime_error & e) {
      ROS_ERROR_STREAM(
        "Error in converting cloud to image message: " <<
          e.what());
    }
  }
  PointCloudToImage()
  : cloud_topic_("input"), image_topic_("output")
  {
    sub_ = nh_.subscribe(
      cloud_topic_, 30,
      &PointCloudToImage::cloud_cb, this);
    image_pub_ = nh_.advertise<sensor_msgs::Image>(image_topic_, 30);

    // print some info about the node
    std::string r_ct = nh_.resolveName(cloud_topic_);
    std::string r_it = nh_.resolveName(image_topic_);
    ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct);
    ROS_INFO_STREAM("Publishing image on topic " << r_it);
  }

private:
  ros::NodeHandle nh_;
  sensor_msgs::Image image_;  // cache the image message
  std::string cloud_topic_;  // default input
  std::string image_topic_;  // default output
  ros::Subscriber sub_;  // cloud subscriber
  ros::Publisher image_pub_;  // image message publisher
};

int
main(int argc, char ** argv)
{
  ros::init(argc, argv, "convert_pointcloud_to_image");
  PointCloudToImage pci;  // this loads up the node
  ros::spin();  // where she stops nobody knows
  return 0;
}