filtreRGB works
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4ed7431eef
commit
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2 changed files with 27 additions and 17 deletions
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@ -50,6 +50,9 @@ add_library(display src/display.cpp)
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add_executable(keyboard_cmd src/keyboard_cmd.cpp)
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target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRARIES})
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add_executable(filtreRGB src/filtreRGB.cpp)
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target_link_libraries(filtreRGB ${catkin_LIBRARIES})
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add_executable(normal_estimator src/normal_estimator.cpp)
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target_link_libraries(normal_estimator ${catkin_LIBRARIES})
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add_dependencies(normal_estimator hand_control_generate_messages_cpp)
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@ -59,46 +59,53 @@ main(int argc, char** argv)
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uint8_t delta(0);
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if (node.getParam("red", red))
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int redInt;
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int greenInt;
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int blueInt;
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int deltaInt;
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if (node.getParam("red", redInt))
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{
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ROS_INFO("red : %f" , red);
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ROS_INFO("red : %d" , redInt);
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} else {
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node.setParam("red", 0);
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node.getParam("red", red);
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ROS_INFO("red : %f (default value)", red);
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node.getParam("red", redInt);
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ROS_INFO("red : %d (default value)", redInt);
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}
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if (node.getParam("blue", blue))
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if (node.getParam("blue", blueInt))
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{
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ROS_INFO("blue : %f" , blue);
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ROS_INFO("blue : %d" , blueInt);
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} else {
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node.setParam("blue", 0);
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node.getParam("blue", blue);
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ROS_INFO("blue : %f (default value)", blue);
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node.getParam("blue", blueInt);
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ROS_INFO("blue : %d (default value)", blueInt);
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}
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if (node.getParam("green", green))
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if (node.getParam("green", greenInt))
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{
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ROS_INFO("green : %f" , green);
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ROS_INFO("green : %d" , greenInt);
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} else {
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node.setParam("green", 0);
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node.getParam("green", green);
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ROS_INFO("green : %f (default value)", green);
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node.getParam("green", greenInt);
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ROS_INFO("green : %d (default value)", greenInt);
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}
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if (node.getParam("delta", delta))
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if (node.getParam("delta", deltaInt))
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{
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ROS_INFO("delta : %f" , delta);
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ROS_INFO("delta : %d" , deltaInt);
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} else {
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node.setParam("delta", 0);
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node.getParam("delta", delta);
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ROS_INFO("delta : %f (default value)", delta);
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node.getParam("delta", deltaInt);
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ROS_INFO("delta : %d (default value)", deltaInt);
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}
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// initialisatio
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ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
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Callback callback(publisher, (uint8_t) red, (uint8_t) green, (uint8_t) blue, (uint8_t) delta);
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Callback callback(publisher, (uint8_t) redInt, (uint8_t) greenInt, (uint8_t) blueInt, (uint8_t) deltaInt);
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ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
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// démarrage
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