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rm useless test programms

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-06-26 20:45:52 +02:00
parent 7103ef6277
commit f0a0536ded
2 changed files with 0 additions and 153 deletions
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49
src/pcl_displayer.cpp
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@ -1,49 +0,0 @@
// a not very useful test tool
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <iostream>
#include <string>
#include <sstream>
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
class Callback {
public:
void
operator()(const PointCloud::ConstPtr& msg)
{
std::ostringstream stream;
stream << "PointCloud published :" << std::endl;
for(int i = 0; i < msg->points.size(); ++i)
{
pcl::PointXYZRGB p = msg->points[i];
stream << std::endl
<< "point # " << i << std::endl
<< "x : " << p.x << std::endl
<< "y : " << p.y << std::endl
<< "z : " << p.z << std::endl
<< "r : " << (int) p.r << std::endl
<< "g : " << (int) p.g << std::endl
<< "b : " << (int) p.b << std::endl;
}
ROS_INFO("%s", stream.str().c_str());
}
};
int
main(int argc, char** argv)
{
ros::init(argc, argv, "pcl_displayer");
ros::NodeHandle node;
// initialisation
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, Callback());
// démarrage
ROS_INFO("node started");
ros::spin();
ROS_INFO("exit");
return 0;
}

104
src/random_pcl_publisher.cpp
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@ -1,104 +0,0 @@
// a not very useful test programm
#include <ros/ros.h>
#include <time.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
// for UniformGenerator
#include <pcl/common/random.h>
// for CloudGenerator
#include <pcl/common/generate.h>
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef pcl::common::UniformGenerator<float> UGenerator;
class Generator
{
public:
Generator(int len, double m, double M)
: length(len), min(m), max(M), cgen(), number(0)
{
UGenerator::Parameters params(min, max, -1);
cgen.setParameters(params);
}
PointCloud::Ptr
operator()()
{
PointCloud::Ptr pcl(new PointCloud());
cgen.fill(length, length, *pcl);
for (int i = 0; i < pcl->points.size(); ++i)
{
pcl->points[i].r = (uint8_t) 175;
pcl->points[i].g = (uint8_t) 120;
pcl->points[i].b = (uint8_t) 118;
}
ros::Time now = ros::Time::now();
pcl->header.stamp = now.toNSec() / 1000;
pcl->header.seq = number++;
pcl->header.frame_id = "0";
return pcl;
}
private:
pcl::common::CloudGenerator<pcl::PointXYZRGB, UGenerator> cgen;
int length;
double min, max;
uint32_t number;
};
int
main(int argc, char** argv)
{
ros::init(argc, argv, "random_pcl_publisher");
ros::NodeHandle node("random");
// paramètres
double freq;
if (node.getParam("freq", freq))
{
ROS_INFO("freq : %f" , freq);
} else {
node.setParam("freq", 10);
node.getParam("freq", freq);
ROS_INFO("freq : %f (default value)", freq);
}
double min, max;
if (node.getParam("min", min))
{
ROS_INFO("min : %f" , min);
} else {
node.setParam("min", 0.);
node.getParam("min", min);
ROS_INFO("min : %f (default value)", min);
}
if (node.getParam("max", max))
{
ROS_INFO("max : %f" , max);
} else {
node.setParam("max", 100.);
node.getParam("max", max);
ROS_INFO("max : %f (default value)", max);
}
int length;
if (node.getParam("length", length))
{
ROS_INFO("length : %d" , length);
} else {
node.setParam("length", 10);
node.getParam("length", length);
ROS_INFO("length : %d (default value)", length);
}
// initialisation
ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Generator generator(length, min, max);
ros::Rate loop_rate(freq);
ROS_INFO("node started");
while (ros::ok())
{
publisher.publish(generator());
ROS_INFO("random PointCloud published");
ros::spinOnce();
loop_rate.sleep();
}
ROS_INFO("exit");
return 0;
}