LGD/hand_control
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

new filter satisfying LGD's requirements

Browse source
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
Show stats Download patch file Download diff file Expand all files Collapse all files

66
src/filtre.cpp
View file

@ -17,7 +17,7 @@ class Callback {
copy_info(msg, pcl); copy_info(msg, pcl);
BOOST_FOREACH (const Point& pt, msg->points) 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->push_back(pt);
} }
pcl->height = 1; pcl->height = 1;
@ -25,8 +25,8 @@ class Callback {
publisher.publish(pcl); publisher.publish(pcl);
} }
Callback(ros::Publisher& pub, float z, float h, float delta_h, float s, float delta_s, float v, float delta_v) 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(s), delta_sat(delta_s), val(v), delta_val(delta_val) : 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(delta_hue > 0);
assert(zmax > 0); assert(zmax > 0);
@ -40,7 +40,7 @@ class Callback {
private: private:
ros::Publisher publisher; 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 inline
void void
@ -68,18 +68,18 @@ class Callback {
return std::min(diff1, diff2); return std::min(diff1, diff2);
} }
sat_dist(const Point& pt) 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 std::fabs(s - sat); return s;
} }
val_dist(const Point& pt) 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);
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); ROS_INFO("delta_hue : %f (default value)", delta_hue);
} }
double sat(0); double sat_min(0);
if (node.getParam("sat", sat)) if (node.getParam("sat_min", sat_min))
{ {
ROS_INFO("sat : %f" , sat); ROS_INFO("sat_min : %f" , sat_min);
} else { } else {
node.setParam("sat", 0.0); node.setParam("sat_min", 0.1);
node.getParam("sat", sat); node.getParam("sat_min", sat_min);
ROS_INFO("sat : %f (default value)", sat); ROS_INFO("sat_min : %f (default value)", sat_min);
} }
double delta_sat(0); double sat_max(0);
if (node.getParam("delta_sat", delta_sat)) if (node.getParam("sat_max", sat_max))
{ {
ROS_INFO("delta_sat : %f" , delta_sat); ROS_INFO("sat_max : %f" , sat_max);
} else { } else {
node.setParam("delta_sat", 10.0); node.setParam("sat_max", 1.);
node.getParam("delta_sat", delta_sat); node.getParam("sat_max", sat_max);
ROS_INFO("delta_sat : %f (default satue)", delta_sat); ROS_INFO("sat_max : %f (default value)", sat_max);
} }
double val(0); double val_min(0);
if (node.getParam("val", hue)) if (node.getParam("val_min", val_min))
{ {
ROS_INFO("val : %f" , hue); ROS_INFO("val_min : %f" , val_min);
} else { } else {
node.setParam("val", 0.0); node.setParam("val_min", 0.4);
node.getParam("val", hue); node.getParam("val_min", val_min);
ROS_INFO("val : %f (default value)", hue); ROS_INFO("val_min : %f (default value)", val_min);
} }
double delta_val(0); double val_max(0);
if (node.getParam("delta_val", delta_hue)) if (node.getParam("val_max", val_max))
{ {
ROS_INFO("delta_val : %f" , delta_hue); ROS_INFO("val_max : %f" , val_max);
} else { } else {
node.setParam("delta_val", 10.0); node.setParam("val_max", 1.);
node.getParam("delta_val", delta_hue); node.getParam("val_max", val_max);
ROS_INFO("delta_val : %f (default value)", delta_hue); ROS_INFO("val_max : %f (default value)", val_max);
} }
// initialisatio // initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1); 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); ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage // démarrage