Essai filtre RGB

src/filtreRGB.cpp

@@ -0,0 +1,109 @@
+#include <ros/ros.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/filters/passthrough.h>
+
+typedef pcl::PointXYZRGB Point;
+typedef pcl::PointCloud<Point> PointCloud;
+
+class Callback {
+  public:
+    void
+    operator()(const PointCloud::ConstPtr& msg)
+    {
+      PointCloud::Ptr pcl(new PointCloud());
+      copy_info(msg, pcl);
+      BOOST_FOREACH (const Point& pt, msg->points)
+      {
+        if (abs(pt.r-red) <= delta and abs(pt.g-green) <= delta and abs(pt.b-blue) <= delta)
+          pcl->push_back(pt);
+      }
+      pcl->height = 1;
+      pcl->width = pcl->points.size();
+      publisher.publish(pcl);
+    }
+
+    Callback(ros::Publisher& pub, uint8_t r, uint8_t g, uint8_t b, uint8_t d)
+    : publisher(pub), delta(d), red(r), green(g), blue(b) {}
+
+  private:
+    ros::Publisher publisher;
+    uint8_t delta;
+
+    uint8_t red;
+    uint8_t green;
+    uint8_t blue;
+
+    inline
+    void
+    copy_info(const PointCloud::ConstPtr& a,
+              PointCloud::Ptr b)
+    {
+      b->header = a->header;
+      b->sensor_origin_ = a->sensor_origin_;
+      b->sensor_orientation_ = a->sensor_orientation_;
+      b->is_dense = a->is_dense;
+    }
+};
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "filtreRGB");
+  ros::NodeHandle node("filtreRGB");
+
+  // récupération des paramètres
+  uint8_t red(0);
+  uint8_t blue(0);
+  uint8_t green(0);
+  
+  uint8_t delta(0);
+
+  if (node.getParam("red", red))
+  {
+    ROS_INFO("red : %f" , red);
+  } else {
+    node.setParam("red", 0);
+    node.getParam("red", red);
+    ROS_INFO("red : %f (default value)", red);
+  }
+
+  if (node.getParam("blue", blue))
+  {
+  
+    ROS_INFO("blue : %f" , blue);
+  } else {
+    node.setParam("blue", 0);
+    node.getParam("blue", blue);
+    ROS_INFO("blue : %f (default value)", blue);
+  }
+
+  if (node.getParam("green", green))
+  {
+    ROS_INFO("green : %f" , green);
+  } else {
+    node.setParam("green", 0);
+    node.getParam("green", green);
+    ROS_INFO("green : %f (default value)", green);
+  }
+
+  if (node.getParam("delta", delta))
+  {
+    ROS_INFO("delta : %f" , delta);
+  } else {
+    node.setParam("delta", 0);
+    node.getParam("delta", delta);
+    ROS_INFO("delta : %f (default value)", delta);
+  }
+
+  // initialisatio
+  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
+  Callback callback(publisher, (uint8_t) red, (uint8_t) green, (uint8_t) blue, (uint8_t) delta);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
+
+  // démarrage
+  ROS_INFO("node started");
+  ros::spin();
+  ROS_INFO("exit");
+  return 0;
+}