ROS中订阅两个消息，发布一个数据。

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Status:Error.

Points Showing [0] points from [0] messages.

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Transform For frame[]: Frame[] does not exist.

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

ros::Publisher pub;

pcl::PointCloud<int> keypoint_indices;

pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>& keypoints = *keypoints_ptr;

float angular_resolution_;
float support_size_ =0.2f;//-0.1f

image_geometry::PinholeCameraModel model_;

void cameraModelCallback(const sensor_msgs::CameraInfoConstPtr &info_msg)
{
model_.fromCameraInfo(info_msg);
}

void depthimage_cb(const sensor_msgs::ImageConstPtr &depth_msg)
{
const uint16_t* depthImage = reinterpret_cast<const uint16_t*>(&depth_msg->data[0]);

pcl::RangeImagePlanar range_image_;
pcl::RangeImageBorderExtractor range_image_border_extractor_;

// convert the depth-image to a pcl::rangeImage
angular_resolution_ = 0.5f(float)(-1);
/*range_image_.setDepthImage(depthImage,depth_msg->width, depth_msg->height, (depth_msg->width)/2, (depth_msg->height)/2, 600.0, 600.0, angular_resolution_);*/
range_image_.setDepthImage(depthImage,depth_msg->width, depth_msg->height, model_.cx(), model_.cy(),model_.fx(), model_.fy(), angular_resolution_);

range_image_.setUnseenToMaxRange();
pcl::NarfKeypoint keypoint_det;

// extract the indices of the NARF-Keypoints
keypoint_det.getParameters ().support_size =  support_size_;
keypoint_det.setRangeImageBorderExtractor (&range_image_border_extractor_);
keypoint_det.setRangeImage (&range_image_);
keypoint_det.compute (keypoint_indices);

keypoints.points.resize (keypoint_indices.points.size ());
for (size_t i=0; i<keypoint_indices.points.size (); ++i)
keypoints.points[i].getVector3fMap () = range_image_.points[keypoint_indices.points[i]].getVector3fMap ();
pub.publish (keypoints);
}

int
main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "keypointsplanar");
ros::NodeHandle nh1;

// Create a ROS subscriber for the input point cloud
ros::Subscriber sub1 = nh1.subscribe ("/camera/depth/image", 1, depthimage_cb);
ros::Subscriber sub2 = nh1.subscribe ("/camera/depth/camera_info", 1, cameraModelCallback);

// Create a ROS publisher for the output point cloud
pub = nh1.advertise<pcl::PointCloud<pcl::PointXYZ> > ("keypoints", 1);

// Spin
ros::spin ();
}

keypoints.header.frame_id = depth_msg->header.frame_id;
keypoints.header.stamp = depth_msg->header.stamp;