PCL example test completed

Author: heethesh

cuboid_detection/CMakeLists.txt

@@ -144,6 +144,7 @@ include
 ## ADD YOUR PROGRAMS HERE
 
 # add_executable(${PROJECT_NAME}_node src/cuboid_detection_node.cpp)
+add_executable(example src/example.cpp)
 
 ## <<<<<<<<<<<<<<<<<<<<<<<
 
@@ -164,3 +165,4 @@ include
 # target_link_libraries(${PROJECT_NAME}
 #   ${OpenCV_LIBS}
 # )
+target_link_libraries(example ${catkin_LIBRARIES})

cuboid_detection/package.xml

@@ -54,12 +54,14 @@
   <build_depend>pcl_ros</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>libpcl-all-dev</build_depend>
   <build_export_depend>cv_bridge</build_export_depend>
   <build_export_depend>image_transport</build_export_depend>
   <build_export_depend>pcl_conversions</build_export_depend>
   <build_export_depend>pcl_ros</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
+  <exec_depend>libpcl-all</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>image_transport</exec_depend>
   <exec_depend>pcl_conversions</exec_depend>

cuboid_detection/src/example.cpp

@@ -0,0 +1,38 @@
+#include <ros/ros.h>
+// PCL specific includes
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+ros::Publisher pub;
+
+void 
+cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
+{
+  // Create a container for the data.
+  sensor_msgs::PointCloud2 output;
+
+  // Do data processing here...
+  output = *input;
+
+  // Publish the data.
+  pub.publish (output);
+}
+
+int
+main (int argc, char** argv)
+{
+  // Initialize ROS
+  ros::init (argc, argv, "my_pcl_tutorial");
+  ros::NodeHandle nh;
+
+  // Create a ROS subscriber for the input point cloud
+  ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);
+
+  // Create a ROS publisher for the output point cloud
+  pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
+
+  // Spin
+  ros::spin ();
+}