filtreHue.cpp

CMakeLists.txt

@@ -53,6 +53,9 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
 add_executable(filtreRGB src/filtreRGB.cpp)
 target_link_libraries(filtreRGB ${catkin_LIBRARIES})
 
+add_executable(filtreHue src/filtreHue.cpp)
+target_link_libraries(filtreHue ${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)

src/filtreHue.cpp

@@ -0,0 +1,108 @@
+#include <ros/ros.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/filters/passthrough.h>
+
+typedef pcl::PointXYZRGB Point;
+typedef pcl::PointCloud<Point> PointCloud;
+
+class Callback {
+  public:
+    void
+    operator()(const PointCloud::ConstPtr& msg)
+    {
+      PointCloud::Ptr pcl(new PointCloud());
+      copy_info(msg, pcl);
+      BOOST_FOREACH (const Point& pt, msg->points)
+      {
+        int h(0);
+	float rScaled(pt.r/255);
+	float gScaled(pt.g/255);
+	float bScaled(pt.b/255);
+
+        float cMax(std::max(std::max(rScaled, gScaled), bScaled));
+	float cMin(std::min(std::min(rScaled, gScaled), bScaled));
+        float cDelta(cMin-cMax);
+
+	if (cMax == rScaled){
+	  h = (int) 60*(gScaled-bScaled)/cDelta;
+	}else if (cMax = gScaled){
+	  h = (int) 60*(2+(bScaled-rScaled)/cDelta);
+	}else if (cMax = rScaled){
+	  h = (int) 60*(4+(rScaled-gScaled)/cDelta);
+        }
+
+	if (h < 0) {
+	  h += 360;
+	}
+
+	if (abs(h - hue) < delta) {
+	  pcl->push_back(pt);
+	}
+      }
+      pcl->height = 1;
+      pcl->width = pcl->points.size();
+      publisher.publish(pcl);
+    }
+
+    Callback(ros::Publisher& pub, int h,  int d)
+    : publisher(pub), delta(d), hue(h)  {}
+
+  private:
+    ros::Publisher publisher;
+    int delta;
+
+    int hue;
+
+    inline
+    void
+    copy_info(const PointCloud::ConstPtr& a,
+              PointCloud::Ptr b)
+    {
+      b->header = a->header;
+      b->sensor_origin_ = a->sensor_origin_;
+      b->sensor_orientation_ = a->sensor_orientation_;
+      b->is_dense = a->is_dense;
+    }
+};
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "filtreRGB");
+  ros::NodeHandle node("filtreRGB");
+
+  // récupération des paramètres
+  int hue(0);  
+  int delta(0);
+
+  if (node.getParam("hue", hue))
+  {
+    ROS_INFO("hue : %d" , hue);
+  } else {
+    node.setParam("hue", 0);
+    node.getParam("hue", hue);
+    ROS_INFO("hue : %d (default value)", hue);
+  }
+
+  if (node.getParam("delta", delta))
+  {
+    ROS_INFO("delta : %d" , delta);
+  } else {
+    node.setParam("delta", 0);
+    node.getParam("delta", delta);
+    ROS_INFO("delta : %d (default value)", delta);
+  }
+ 
+
+  // initialisatio
+  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
+  Callback callback(publisher, (int) hue, (int) delta);
+  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
+
+  // démarrage
+  ROS_INFO("node started");
+  ros::spin();
+  ROS_INFO("exit");
+  return 0;
+}