LGD/hand_control
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filtreRGB works

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This commit is contained in:
Paul Janin 2015-05-06 16:03:29 +02:00
parent 4ed7431eef
commit 5cc5238526
2 changed files with 27 additions and 17 deletions
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3
CMakeLists.txt
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@ -50,6 +50,9 @@ add_library(display src/display.cpp)
add_executable(keyboard_cmd src/keyboard_cmd.cpp)
target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRARIES})
add_executable(filtreRGB src/filtreRGB.cpp)
target_link_libraries(filtreRGB ${catkin_LIBRARIES})
add_executable(normal_estimator src/normal_estimator.cpp)
target_link_libraries(normal_estimator ${catkin_LIBRARIES})
add_dependencies(normal_estimator hand_control_generate_messages_cpp)

41
src/filtreRGB.cpp
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@ -59,46 +59,53 @@ main(int argc, char** argv)
uint8_t delta(0);
if (node.getParam("red", red))
int redInt;
int greenInt;
int blueInt;
int deltaInt;
if (node.getParam("red", redInt))
{
ROS_INFO("red : %f" , red);
ROS_INFO("red : %d" , redInt);
} else {
node.setParam("red", 0);
node.getParam("red", red);
ROS_INFO("red : %f (default value)", red);
node.getParam("red", redInt);
ROS_INFO("red : %d (default value)", redInt);
}
if (node.getParam("blue", blue))
if (node.getParam("blue", blueInt))
{
ROS_INFO("blue : %f" , blue);
ROS_INFO("blue : %d" , blueInt);
} else {
node.setParam("blue", 0);
node.getParam("blue", blue);
ROS_INFO("blue : %f (default value)", blue);
node.getParam("blue", blueInt);
ROS_INFO("blue : %d (default value)", blueInt);
}
if (node.getParam("green", green))
if (node.getParam("green", greenInt))
{
ROS_INFO("green : %f" , green);
ROS_INFO("green : %d" , greenInt);
} else {
node.setParam("green", 0);
node.getParam("green", green);
ROS_INFO("green : %f (default value)", green);
node.getParam("green", greenInt);
ROS_INFO("green : %d (default value)", greenInt);
}
if (node.getParam("delta", delta))
if (node.getParam("delta", deltaInt))
{
ROS_INFO("delta : %f" , delta);
ROS_INFO("delta : %d" , deltaInt);
} else {
node.setParam("delta", 0);
node.getParam("delta", delta);
ROS_INFO("delta : %f (default value)", delta);
node.getParam("delta", deltaInt);
ROS_INFO("delta : %d (default value)", deltaInt);
}
// initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Callback callback(publisher, (uint8_t) red, (uint8_t) green, (uint8_t) blue, (uint8_t) delta);
Callback callback(publisher, (uint8_t) redInt, (uint8_t) greenInt, (uint8_t) blueInt, (uint8_t) deltaInt);
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage