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answered 2011-06-26 14:55:48 -0600

lakshmen gravatar image 
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input) { sensor_msgs::PointCloud2 output; pub.publish (output); }

int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input) { sensor_msgs::PointCloud2 output; pub.publish (output); }

} 
int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
   sensor_msgs::PointCloud2 output;
    pub.publish (output);
}

int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;


  void 
    cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
   {

    sensor_msgs::PointCloud2 output;
     pub.publish (output);
   }


int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
  ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);


  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;


  void      cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
   {

    sensor_msgs::PointCloud2 output;
     pub.publish (output);
   }


int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2> ("output", nh.advertise<PointCloud> ("points2", 1);
  ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);


  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
 
int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
  ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);


  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

int main(int argc, char** argv)
{

{ ros::init (argc, argv, "pub_pcl"); ros::NodeHandle nh; nh; ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1); nh.advertise<pointcloud> ("point2", 1);

 PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = 480;
 msg->width = 1;
640;
 //msg->fields.resize(4);
 //msg->fields[0].name = "x";
 //msg->fields[1].name = "y";
 //msg->fields[2].name = "z";
 //msg->fields[3].name = "rgb";
 msg->is_dense = true;
 msg->points.resize(640*480);

for( int v=0,i=0;v<480;v++)
{
 msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

for ( int u = 0; u<640;u++,i++)
  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    pcl::PointXYZ result;
    result.x = (u-cx)*(RawDepthtoMeters(depth[i]) + minDistance*scaleFactor*(cx/cy);
    result.y = (v-cy)*(RawDepthtoMeters(depth[i]) + minDistance*scaleFactor;
    result.z = RawDepethtoMeters(depth[i]);
    msg->points.push.back(result);
   }
}

 ros::Rate loop_rate(4);  
 while (nh.ok())
{   
 msg->header.stamp = ros::Time::now ();
  pub.publish (msg);
   (msg); 
 ros::spinOnce ();
 loop_rate.sleep ();    loop_rate.sleep ();
  }
 }

}
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