LGD/hand_control
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new filter satisfying LGD's requirements

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This commit is contained in:
Paul Janin 2015-05-22 17:33:50 +02:00
parent a202a4c19a
commit 4b993c0f3c
1 changed files with 33 additions and 33 deletions
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66
src/filtre.cpp
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@ -17,7 +17,7 @@ class Callback {
copy_info(msg, pcl);
BOOST_FOREACH (const Point& pt, msg->points)
{
if (pt.z < zmax and hue_dist(pt) < delta_hue and sat_dist(pt) < delta_sat and val_dist(pt) < delta_val)
if (pt.z < zmax and hue_dist(pt) < delta_hue and sat(pt) < sat_max and sat(pt) > sat_min and val(pt) < val_max and val(pt) > val_min)
pcl->push_back(pt);
}
pcl->height = 1;
@ -25,8 +25,8 @@ class Callback {
publisher.publish(pcl);
}
Callback(ros::Publisher& pub, float z, float h, float delta_h, float s, float delta_s, float v, float delta_v)
: publisher(pub), zmax(z), hue(h), delta_hue(delta_h), sat(s), delta_sat(delta_s), val(v), delta_val(delta_val)
Callback(ros::Publisher& pub, float z, float h, float delta_h, float smin, float smax, float vmin, float vmax)
: publisher(pub), zmax(z), hue(h), delta_hue(delta_h), sat_min(smin), sat_max(smax), val_min(vmin), val_max(vmax)
{
assert(delta_hue > 0);
assert(zmax > 0);
@ -40,7 +40,7 @@ class Callback {
private:
ros::Publisher publisher;
float zmax, hue, delta_hue, val, delta_val, sat, delta_sat;
float zmax, hue, delta_hue, val_min, val_max, sat_min, sat_max;
inline
void
@ -68,18 +68,18 @@ class Callback {
return std::min(diff1, diff2);
}
sat_dist(const Point& pt)
float sat(const Point& pt)
{
float h, s, v, diff1, diff2;
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
return std::fabs(s - sat);
return s;
}
val_dist(const Point& pt)
float val(const Point& pt)
{
float h, s, v, diff1, diff2;
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
return std::fabs(v - val);
return v;
}
};
@ -120,49 +120,49 @@ main(int argc, char** argv)
ROS_INFO("delta_hue : %f (default value)", delta_hue);
}
double sat(0);
if (node.getParam("sat", sat))
double sat_min(0);
if (node.getParam("sat_min", sat_min))
{
ROS_INFO("sat : %f" , sat);
ROS_INFO("sat_min : %f" , sat_min);
} else {
node.setParam("sat", 0.0);
node.getParam("sat", sat);
ROS_INFO("sat : %f (default value)", sat);
node.setParam("sat_min", 0.1);
node.getParam("sat_min", sat_min);
ROS_INFO("sat_min : %f (default value)", sat_min);
}
double delta_sat(0);
if (node.getParam("delta_sat", delta_sat))
double sat_max(0);
if (node.getParam("sat_max", sat_max))
{
ROS_INFO("delta_sat : %f" , delta_sat);
ROS_INFO("sat_max : %f" , sat_max);
} else {
node.setParam("delta_sat", 10.0);
node.getParam("delta_sat", delta_sat);
ROS_INFO("delta_sat : %f (default satue)", delta_sat);
node.setParam("sat_max", 1.);
node.getParam("sat_max", sat_max);
ROS_INFO("sat_max : %f (default value)", sat_max);
}
double val(0);
if (node.getParam("val", hue))
double val_min(0);
if (node.getParam("val_min", val_min))
{
ROS_INFO("val : %f" , hue);
ROS_INFO("val_min : %f" , val_min);
} else {
node.setParam("val", 0.0);
node.getParam("val", hue);
ROS_INFO("val : %f (default value)", hue);
node.setParam("val_min", 0.4);
node.getParam("val_min", val_min);
ROS_INFO("val_min : %f (default value)", val_min);
}
double delta_val(0);
if (node.getParam("delta_val", delta_hue))
double val_max(0);
if (node.getParam("val_max", val_max))
{
ROS_INFO("delta_val : %f" , delta_hue);
ROS_INFO("val_max : %f" , val_max);
} else {
node.setParam("delta_val", 10.0);
node.getParam("delta_val", delta_hue);
ROS_INFO("delta_val : %f (default value)", delta_hue);
node.setParam("val_max", 1.);
node.getParam("val_max", val_max);
ROS_INFO("val_max : %f (default value)", val_max);
}
// initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Callback callback(publisher, (float) zmax, (float) hue, (float) delta_hue, (float) sat, (float) delta_sat, (float) val, (float) delta_val);
Callback callback(publisher, (float) zmax, (float) hue, (float) delta_hue, (float) sat_min, (float) sat_max, (float) val_min, (float) val_max);
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage