diff --git a/src/nodelet/color_filter_nodelet.cpp b/src/nodelet/color_filter_nodelet.cpp
index a64e94d4..6d69abdf 100644
--- a/src/nodelet/color_filter_nodelet.cpp
+++ b/src/nodelet/color_filter_nodelet.cpp
@@ -36,6 +36,7 @@
 #include "opencv_apps/nodelet.h"
 #include <image_transport/image_transport.h>
 #include <sensor_msgs/image_encodings.h>
+#include <sensor_msgs/PointCloud.h>
 #include <cv_bridge/cv_bridge.h>
 
 #include <opencv2/highgui/highgui.hpp>
@@ -77,6 +78,10 @@ class ColorFilterNodelet : public opencv_apps::Nodelet
 
   boost::mutex mutex_;
 
+  // publisch color space
+  sensor_msgs::PointCloud color_space_msg_;
+  ros::Publisher color_space_pub_;
+
   virtual void reconfigureCallback(Config &new_config, uint32_t level) = 0;
 
   virtual void filter(const cv::Mat& input_image, cv::Mat& output_image) = 0;
@@ -172,6 +177,9 @@ class ColorFilterNodelet : public opencv_apps::Nodelet
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
 
+    // to advertise you can do it like this (as above):
+    color_space_pub_ = pnh_->advertise<sensor_msgs::PointCloud>("color_space", 1);
+
     onInitPostProcess();
   }
 };
@@ -210,6 +218,31 @@ class RGBColorFilterNodelet
   virtual void filter(const cv::Mat& input_image, cv::Mat& output_image) {
     cv::inRange(input_image, lower_color_range_, upper_color_range_,
                 output_image);
+
+    /// publish color spaces
+    color_space_msg_.header.frame_id = "/map";
+    if ( color_space_msg_.points.size() != input_image.rows*input_image.cols) {
+      color_space_msg_.points.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels.resize(3);
+      color_space_msg_.channels[0].name = "b";
+      color_space_msg_.channels[1].name = "g";
+      color_space_msg_.channels[2].name = "r";
+      color_space_msg_.channels[0].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[1].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[2].values.resize(input_image.rows*input_image.cols);
+    }
+    for ( size_t i = 0; i < input_image.rows *  input_image.cols; i++ ) {
+      float r = input_image.at<cv::Vec3b>(i)[0]/255.0;
+      float g = input_image.at<cv::Vec3b>(i)[1]/255.0;
+      float b = input_image.at<cv::Vec3b>(i)[2]/255.0;
+      color_space_msg_.points[i].x = r;
+      color_space_msg_.points[i].y = g;
+      color_space_msg_.points[i].z = b;
+      color_space_msg_.channels[0].values[i] = r;
+      color_space_msg_.channels[1].values[i] = g;
+      color_space_msg_.channels[2].values[i] = b;
+    }
+    color_space_pub_.publish(color_space_msg_);
   }
 
 private:
@@ -271,6 +304,34 @@ class HLSColorFilterNodelet
       cv::inRange(hls_image, lower_color_range_360, upper_color_range_360, output_image_360);
       output_image = output_image_0 | output_image_360;
     }
+
+    /// publish color spaces
+    color_space_msg_.header.frame_id = "/map";
+    if ( color_space_msg_.points.size() != input_image.rows*input_image.cols) {
+      color_space_msg_.points.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels.resize(3);
+      color_space_msg_.channels[0].name = "b";
+      color_space_msg_.channels[1].name = "g";
+      color_space_msg_.channels[2].name = "r";
+      color_space_msg_.channels[0].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[1].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[2].values.resize(input_image.rows*input_image.cols);
+    }
+    for ( size_t i = 0; i < input_image.rows *  input_image.cols; i++ ) {
+      float h = hls_image.at<cv::Vec3b>(i)[0]*2;
+      float l = hls_image.at<cv::Vec3b>(i)[1]/255.0;
+      float s = hls_image.at<cv::Vec3b>(i)[2]/255.0;
+      float r = input_image.at<cv::Vec3b>(i)[0]/255.0;
+      float g = input_image.at<cv::Vec3b>(i)[1]/255.0;
+      float b = input_image.at<cv::Vec3b>(i)[2]/255.0;
+      color_space_msg_.points[i].x = s*cos(h*M_PI/180.0);
+      color_space_msg_.points[i].y = s*sin(h*M_PI/180.0);
+      color_space_msg_.points[i].z = l;
+      color_space_msg_.channels[0].values[i] = r;
+      color_space_msg_.channels[1].values[i] = g;
+      color_space_msg_.channels[2].values[i] = b;
+    }
+    color_space_pub_.publish(color_space_msg_);
   }
 
 public:
@@ -332,6 +393,34 @@ class HSVColorFilterNodelet
       cv::inRange(hsv_image, lower_color_range_360, upper_color_range_360, output_image_360);
       output_image = output_image_0 | output_image_360;
     }
+
+    /// publish color spaces
+    color_space_msg_.header.frame_id = "/map";
+    if ( color_space_msg_.points.size() != input_image.rows*input_image.cols) {
+      color_space_msg_.points.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels.resize(3);
+      color_space_msg_.channels[0].name = "b";
+      color_space_msg_.channels[1].name = "g";
+      color_space_msg_.channels[2].name = "r";
+      color_space_msg_.channels[0].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[1].values.resize(input_image.rows*input_image.cols);
+      color_space_msg_.channels[2].values.resize(input_image.rows*input_image.cols);
+    }
+    for ( size_t i = 0; i < input_image.rows *  input_image.cols; i++ ) {
+      float h = hsv_image.at<cv::Vec3b>(i)[0]*2;
+      float s = hsv_image.at<cv::Vec3b>(i)[1]/255.0;
+      float v = hsv_image.at<cv::Vec3b>(i)[2]/255.0;
+      float r = input_image.at<cv::Vec3b>(i)[0]/255.0;
+      float g = input_image.at<cv::Vec3b>(i)[1]/255.0;
+      float b = input_image.at<cv::Vec3b>(i)[2]/255.0;
+      color_space_msg_.points[i].x = s*cos(h*M_PI/180.0);
+      color_space_msg_.points[i].y = s*sin(h*M_PI/180.0);
+      color_space_msg_.points[i].z = v;
+      color_space_msg_.channels[0].values[i] = r;
+      color_space_msg_.channels[1].values[i] = g;
+      color_space_msg_.channels[2].values[i] = b;
+    }
+    color_space_pub_.publish(color_space_msg_);
   }
 
 public: