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add hue filter to «filtre» node

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-07 17:44:25 +02:00
parent fd0bda6af7
commit 2897943e42
2 changed files with 50 additions and 7 deletions
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4
CMakeLists.txt
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@ -53,8 +53,8 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
add_executable(filtreRGB src/filtreRGB.cpp)
target_link_libraries(filtreRGB ${catkin_LIBRARIES})
add_executable(filtreHue src/filtreHue.cpp)
target_link_libraries(filtreHue ${catkin_LIBRARIES})
#add_executable(filtreHue src/filtreHue.cpp)
#target_link_libraries(filtreHue ${catkin_LIBRARIES})
add_executable(normal_estimator src/normal_estimator.cpp)
target_link_libraries(normal_estimator ${catkin_LIBRARIES})

53
src/filtre.cpp
View file

@ -1,6 +1,8 @@
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/tracking/impl/hsv_color_coherence.hpp>
#include <assert.h>
typedef pcl::PointXYZRGB Point;
@ -15,7 +17,7 @@ class Callback {
copy_info(msg, pcl);
BOOST_FOREACH (const Point& pt, msg->points)
{
if (pt.z < zmax)
if (pt.z < zmax and hue_dist(pt) < delta_hue)
pcl->push_back(pt);
}
pcl->height = 1;
@ -23,12 +25,18 @@ class Callback {
publisher.publish(pcl);
}
Callback(ros::Publisher& pub, float z)
: publisher(pub), zmax(z) {}
Callback(ros::Publisher& pub, float z, float h, float delta_h)
: publisher(pub), zmax(z), hue(h), delta_hue(delta_h)
{
assert(delta_hue > 0);
assert(zmax > 0);
assert(hue >= 0);
assert(hue <= 360.);
}
private:
ros::Publisher publisher;
float zmax;
float zmax, hue, delta_hue;
inline
void
@ -40,6 +48,21 @@ class Callback {
b->sensor_orientation_ = a->sensor_orientation_;
b->is_dense = a->is_dense;
}
inline
float
hue_dist(const Point& pt)
{
float h, s, v, diff1, diff2;
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
h *= 360.0f ;
diff1 = std::fabs(h - hue);
if (h < hue)
diff2 = std::fabs(360.0f + h - hue);
else
diff2 = std::fabs(360.0f + hue - h);
return std::max(diff1, diff2);
}
};
int
@ -59,9 +82,29 @@ main(int argc, char** argv)
ROS_INFO("zmax : %f (default value)", zmax);
}
double hue(0);
if (node.getParam("hue", hue))
{
ROS_INFO("hue : %f" , hue);
} else {
node.setParam("hue", 0.0);
node.getParam("hue", hue);
ROS_INFO("hue : %f (default value)", hue);
}
double delta_hue(0);
if (node.getParam("delta_hue", delta_hue))
{
ROS_INFO("delta_hue : %f" , delta_hue);
} else {
node.setParam("delta_hue", 10.0);
node.getParam("delta_hue", delta_hue);
ROS_INFO("delta_hue : %f (default value)", delta_hue);
}
// initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Callback callback(publisher, (float) zmax);
Callback callback(publisher, (float) zmax, (float) hue, (float) delta_hue);
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage