94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
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*
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*/
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/**
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\author Ethan Rublee
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@b convert a pcd to an image file
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run with:
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rosrun pcl convert_pcd_image cloud_00042.pcd
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It will publish a ros image message on /pcd/image
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View the image with:
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rosrun image_view image_view image:=/pcd/image
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**/
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#include <ros/ros.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/common/io.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <string>
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/* ---[ */
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int
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main(int argc, char ** argv)
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{
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ros::init(argc, argv, "image_publisher");
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ros::NodeHandle nh;
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ros::Publisher image_pub = nh.advertise<sensor_msgs::Image>("output", 1);
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if (argc != 2) {
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std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl;
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return 1;
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}
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sensor_msgs::Image image;
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sensor_msgs::PointCloud2 cloud;
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pcl::io::loadPCDFile(std::string(argv[1]), cloud);
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try {
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pcl::toROSMsg(cloud, image); // convert the cloud
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} catch (std::runtime_error & e) {
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ROS_ERROR_STREAM(
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"Error in converting cloud to image message: " <<
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e.what());
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return 1; // fail!
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}
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ros::Rate loop_rate(5);
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while (nh.ok()) {
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image_pub.publish(image);
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ros::spinOnce();
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loop_rate.sleep();
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}
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return 0;
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}
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/* ]--- */
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