Function main

cuda/apps/src/kinect_cloud.cpp:90–129

};

int
main (int argc, char **argv)
{
  ros::init (argc, argv, "disparity_to_cloud");
  ros::NodeHandle nh;

  // Prepare output
  pub = nh.advertise<PCLPointCloud2>("output", 1);

  // Subscribe to topics
  Synchronizer<sync_policies::ApproximateTime<PCLImage, PCLImage, CameraInfo> > sync_rgb (30);
  Synchronizer<sync_policies::ApproximateTime<PCLImage, CameraInfo> > sync (30);
  Subscriber<PCLImage> sub_depth, sub_rgb;
  Subscriber<CameraInfo> sub_info;
  sub_depth.subscribe (nh, "/camera/depth/image", 30);
  sub_rgb.subscribe (nh, "/camera/rgb/image_color", 30);
  sub_info.subscribe (nh, "/camera/rgb/camera_info", 120);
  //sub_info.subscribe (nh, "/camera/depth/camera_info", 120);

  EventHelper h;

  if (argc > 1 && atoi (argv[1]) == 1)
  {
    ROS_INFO ("[disparity_to_cloud] Using RGB to color the points.");
    sync_rgb.connectInput (sub_depth, sub_rgb, sub_info);
    //sync_rgb.registerCallback (bind (&pcl_cuda::DisparityToCloud::callback, k, _1, _2, _3));
    sync_rgb.registerCallback (std::bind (&EventHelper::callback, &h, _1, _2, _3));
  }
  else
  {
    sync.connectInput (sub_depth, sub_info);
    //sync.registerCallback (bind (&pcl_cuda::DisparityToCloud::callback, k, _1, PCLImageConstPtr (), _2));
    sync.registerCallback (std::bind (&EventHelper::callback, &h, _1, PCLImageConstPtr (), _2));
  }

  // Do this indefinitely
  ros::spin ();

  return (0);
}