header: seq: 50114stamp: secs: 1528439158nsecs: 557543003frame_id: "camera_color_optical_frame"

pub_pointcloud.header.frame_id = "camera_color_optical_frame";
pub_pointcloud.header.stamp = ros::Time::now();

[ INFO] [1528442016.931874649]: point cloud size = 0
terminate called after throwing an instance of 'pcl::IOException'what():  : [pcl::PCDWriter::writeASCII] Input point cloud has no data!
Aborted (core dumped)

gordon@gordon-5577:/usr/local/bin$ ./rs-sensor-control 

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>// PCL 库
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl_conversions/pcl_conversions.h>// 定义点云类型
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud; using namespace std;
//namespace enc = sensor_msgs::image_encodings;// 相机内参
const double camera_factor = 1000;
const double camera_cx = 321.798;
const double camera_cy = 239.607;
const double camera_fx = 615.899;
const double camera_fy = 616.468;// 全局变量：图像矩阵和点云
cv_bridge::CvImagePtr color_ptr, depth_ptr;
cv::Mat color_pic, depth_pic;void color_Callback(const sensor_msgs::ImageConstPtr& color_msg)
{//cv_bridge::CvImagePtr color_ptr;try{cv::imshow("color_view", cv_bridge::toCvShare(color_msg, sensor_msgs::image_encodings::BGR8)->image);color_ptr = cv_bridge::toCvCopy(color_msg, sensor_msgs::image_encodings::BGR8);    cv::waitKey(1050); // 不断刷新图像，频率时间为int delay，单位为ms
  }catch (cv_bridge::Exception& e ){ROS_ERROR("Could not convert from '%s' to 'bgr8'.", color_msg->encoding.c_str());}color_pic = color_ptr->image;// output some info about the rgb image in cv formatcout<<"output some info about the rgb image in cv format"<<endl;cout<<"rows of the rgb image = "<<color_pic.rows<<endl; cout<<"cols of the rgb image = "<<color_pic.cols<<endl; cout<<"type of rgb_pic's element = "<<color_pic.type()<<endl;
}void depth_Callback(const sensor_msgs::ImageConstPtr& depth_msg)
{//cv_bridge::CvImagePtr depth_ptr;try{//cv::imshow("depth_view", cv_bridge::toCvShare(depth_msg, sensor_msgs::image_encodings::TYPE_16UC1)->image);//depth_ptr = cv_bridge::toCvCopy(depth_msg, sensor_msgs::image_encodings::TYPE_16UC1); cv::imshow("depth_view", cv_bridge::toCvShare(depth_msg, sensor_msgs::image_encodings::TYPE_32FC1)->image);depth_ptr = cv_bridge::toCvCopy(depth_msg, sensor_msgs::image_encodings::TYPE_32FC1); cv::waitKey(1050);}catch (cv_bridge::Exception& e){ROS_ERROR("Could not convert from '%s' to 'mono16'.", depth_msg->encoding.c_str());}depth_pic = depth_ptr->image;// output some info about the depth image in cv formatcout<<"output some info about the depth image in cv format"<<endl;cout<<"rows of the depth image = "<<depth_pic.rows<<endl; cout<<"cols of the depth image = "<<depth_pic.cols<<endl; cout<<"type of depth_pic's element = "<<depth_pic.type()<<endl;
}
int main(int argc, char **argv)
{ros::init(argc, argv, "image_listener");ros::NodeHandle nh;cv::namedWindow("color_view");cv::namedWindow("depth_view");cv::startWindowThread();image_transport::ImageTransport it(nh);image_transport::Subscriber sub = it.subscribe("/camera/color/image_raw", 1, color_Callback);image_transport::Subscriber sub1 = it.subscribe("/camera/aligned_depth_to_color/image_raw", 1, depth_Callback);ros::Publisher pointcloud_publisher = nh.advertise<sensor_msgs::PointCloud2>("generated_pc", 1);// 点云变量// 使用智能指针，创建一个空点云。这种指针用完会自动释放。PointCloud::Ptr cloud ( new PointCloud );sensor_msgs::PointCloud2 pub_pointcloud;double sample_rate = 1.0; // 1HZ，1秒发1次 ros::Rate naptime(sample_rate); // use to regulate loop rate
cout<<"depth value of depth map : "<<endl;while (ros::ok()) {// 遍历深度图for (int m = 0; m < depth_pic.rows; m++){for (int n = 0; n < depth_pic.cols; n++){// 获取深度图中(m,n)处的值float d = depth_pic.ptr<float>(m)[n];//ushort d = depth_pic.ptr<ushort>(m)[n];// d 可能没有值，若如此，跳过此点if (d == 0)continue;// d 存在值，则向点云增加一个点
          pcl::PointXYZRGB p;// 计算这个点的空间坐标p.z = double(d) / camera_factor;p.x = (n - camera_cx) * p.z / camera_fx;p.y = (m - camera_cy) * p.z / camera_fy;// 从rgb图像中获取它的颜色// rgb是三通道的BGR格式图，所以按下面的顺序获取颜色p.b = color_pic.ptr<uchar>(m)[n*3];p.g = color_pic.ptr<uchar>(m)[n*3+1];p.r = color_pic.ptr<uchar>(m)[n*3+2];// 把p加入到点云中cloud->points.push_back( p );}}// 设置并保存点云cloud->height = 1;cloud->width = cloud->points.size();ROS_INFO("point cloud size = %d",cloud->width);cloud->is_dense = false;// 转换点云的数据类型并存储成pcd文件pcl::toROSMsg(*cloud,pub_pointcloud);pub_pointcloud.header.frame_id = "camera_color_optical_frame";pub_pointcloud.header.stamp = ros::Time::now();pcl::io::savePCDFile("./pointcloud.pcd", pub_pointcloud);cout<<"publish point_cloud height = "<<pub_pointcloud.height<<endl;cout<<"publish point_cloud width = "<<pub_pointcloud.width<<endl;// 发布合成点云和原始点云
    pointcloud_publisher.publish(pub_pointcloud);ori_pointcloud_publisher.publish(cloud_msg);// 清除数据并退出cloud->points.clear();ros::spinOnce(); //allow data update from callback; naptime.sleep(); // wait for remainder of specified period;
  }cv::destroyWindow("color_view");cv::destroyWindow("depth_view");
}