LGD/hand_control
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change function signatures in filtre.cpp

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-26 15:52:30 +02:00
parent 5d50a6ab3e
commit 31638974d8
1 changed files with 9 additions and 5 deletions
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14
src/filtre.cpp
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@ -27,7 +27,7 @@ class Callback {
publisher.publish(pcl); publisher.publish(pcl);
} }
Callback(ros::Publisher& pub) Callback(const ros::Publisher& pub)
: publisher(pub), z_max(90.), hue(0.), delta_hue(20.), sat_min(0.3), sat_max(1.), val_min(0.3), val_max(1.) : publisher(pub), z_max(90.), hue(0.), delta_hue(20.), sat_min(0.3), sat_max(1.), val_min(0.3), val_max(1.)
{ {
assert(delta_hue > 0); assert(delta_hue > 0);
@ -41,7 +41,7 @@ class Callback {
} }
void void
reconfigure(hand_control::FiltreConfig& c, uint32_t level) { reconfigure(const hand_control::FiltreConfig& c, const uint32_t level) {
z_max = c.z_max; z_max = c.z_max;
hue = c.hue; hue = c.hue;
delta_hue = c.delta_hue; delta_hue = c.delta_hue;
@ -80,15 +80,19 @@ class Callback {
diff2 = std::fabs(360.0f + hue - h); diff2 = std::fabs(360.0f + hue - h);
return std::min(diff1, diff2); return std::min(diff1, diff2);
} }
float sat(const Point& pt) inline
float
sat(const Point& pt)
{ {
float h, s, v, diff1, diff2; float h, s, v, diff1, diff2;
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v); pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
return s; return s;
} }
float val(const Point& pt) inline
float
val(const Point& pt)
{ {
float h, s, v, diff1, diff2; float h, s, v, diff1, diff2;
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v); pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);