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pointcloud demo

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This commit is contained in:
ZhangWanjie 2019-07-26 11:48:23 +08:00
parent f6ec90651d
commit 32cd8f1817
1 changed files with 8 additions and 6 deletions
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14
wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
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@ -45,12 +45,14 @@ void callbackPC(const sensor_msgs::PointCloud2ConstPtr& msg)
pcl::fromROSMsg(*msg , pointCloudIn);
int cloudSize = pointCloudIn.points.size();
int pcIndex = cloudSize/2;
ROS_INFO("[pcIndex= %d] ( %.2f , %.2f , %.2f)",
pcIndex ,
pointCloudIn.points[pcIndex].x,
pointCloudIn.points[pcIndex].y,
pointCloudIn.points[pcIndex].z);
for(int i=0;i<cloudSize;i++)
{
ROS_INFO("[i= %d] ( %.2f , %.2f , %.2f)",
i ,
pointCloudIn.points[i].x,
pointCloudIn.points[i].y,
pointCloudIn.points[i].z);
}
}
int main(int argc, char **argv)