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121 lines
3.1 KiB
121 lines
3.1 KiB
#include <ros/ros.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/filters/passthrough.h>
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#include <assert.h>
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typedef pcl::PointXYZRGB Point;
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typedef pcl::PointCloud<Point> PointCloud;
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class Callback {
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public:
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void
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operator()(const PointCloud::ConstPtr& msg)
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{
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PointCloud::Ptr pcl(new PointCloud());
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copy_info(msg, pcl);
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BOOST_FOREACH (const Point& pt, msg->points)
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{
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uint8_t min, max, c;
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//Recherche du min et du max des coefficients R,G,B
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if (pt.r >= pt.g) {
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if (pt.g >= pt.b) {
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max = pt.r
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min = pt.b;
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} else if (pt.r >= pt.b) {
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max = pt.r;
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min = pt.g;
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} else {
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max = pt.b;
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min = pt.g;
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}
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} else if (pt.r >= pt.b) {
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max = pt.g;
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min = pt.b;
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} else if (pt.g >= pt.b) {
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max = pt.g;
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min = pt.r;
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} else {
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max = pt.b;
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min = pt.r;
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}
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c = max - min;
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assert(c > 0);
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assert(max > pt.r);
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assert(max > pt.g);
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assert(max > pt.b);
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assert(min < pt.r);
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assert(min < pt.g);
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assert(min < pt.b);
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pcl->height = 1;
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pcl->width = pcl->points.size();
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publisher.publish(pcl);
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}
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Callback(ros::Publisher& pub, int h, int d)
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: publisher(pub), delta(d), hue(h) {}
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private:
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ros::Publisher publisher;
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int delta;
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int hue;
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inline
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void
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copy_info(const PointCloud::ConstPtr& a,
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PointCloud::Ptr b)
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{
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b->header = a->header;
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b->sensor_origin_ = a->sensor_origin_;
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b->sensor_orientation_ = a->sensor_orientation_;
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b->is_dense = a->is_dense;
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}
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};
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int
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main(int argc, char** argv)
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{
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ros::init(argc, argv, "filtreHue");
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ros::NodeHandle node("filtreHue");
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// récupération des paramètres
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int hue(0);
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int delta(0);
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if (node.getParam("hue", hue))
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{
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ROS_INFO("hue : %d" , hue);
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} else {
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node.setParam("hue", 0);
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node.getParam("hue", hue);
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ROS_INFO("hue : %d (default value)", hue);
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}
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if (node.getParam("delta", delta))
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{
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ROS_INFO("delta : %d" , delta);
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} else {
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node.setParam("delta", 0);
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node.getParam("delta", delta);
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ROS_INFO("delta : %d (default value)", delta);
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}
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// initialisatio
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ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
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Callback callback(publisher, (int) hue, (int) delta);
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ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
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// démarrage
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ROS_INFO("node started");
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ros::spin();
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ROS_INFO("exit");
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return 0;
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}
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