420f5b032b
Collection of hand-made changes to make ament_cpplint pass consisting of: - whitespace between comments - line length - header ordering - include guard formats - remove a couple `using namespace std;` - using c++ casts instead of c-style casts Signed-off-by: Sean Kelly <sean@seankelly.dev>
105 lines
3.5 KiB
C++
105 lines
3.5 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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**/
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// ROS core
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#include <ros/ros.h>
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// Image message
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/PointCloud2.h>
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// pcl::toROSMsg
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#include <pcl/io/pcd_io.h>
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// conversions from PCL custom types
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#include <pcl_conversions/pcl_conversions.h>
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// stl stuff
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#include <string>
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class PointCloudToImage
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{
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public:
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void
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cloud_cb(const sensor_msgs::PointCloud2ConstPtr & cloud)
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{
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if (cloud->height <= 1) {
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ROS_ERROR("Input point cloud is not organized, ignoring!");
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return;
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}
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try {
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pcl::toROSMsg(*cloud, image_); // convert the cloud
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image_.header = cloud->header;
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image_pub_.publish(image_); // publish our cloud image
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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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}
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}
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PointCloudToImage()
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: cloud_topic_("input"), image_topic_("output")
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{
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sub_ = nh_.subscribe(
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cloud_topic_, 30,
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&PointCloudToImage::cloud_cb, this);
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image_pub_ = nh_.advertise<sensor_msgs::Image>(image_topic_, 30);
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// print some info about the node
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std::string r_ct = nh_.resolveName(cloud_topic_);
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std::string r_it = nh_.resolveName(image_topic_);
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ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct);
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ROS_INFO_STREAM("Publishing image on topic " << r_it);
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}
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private:
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ros::NodeHandle nh_;
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sensor_msgs::Image image_; // cache the image message
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std::string cloud_topic_; // default input
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std::string image_topic_; // default output
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ros::Subscriber sub_; // cloud subscriber
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ros::Publisher image_pub_; // image message publisher
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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, "convert_pointcloud_to_image");
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PointCloudToImage pci; // this loads up the node
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ros::spin(); // where she stops nobody knows
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return 0;
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}
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