création filtre passe-tout
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2 changed files with 17 additions and 16 deletions
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@ -108,7 +108,9 @@ include_directories(
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# )
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# )
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## Declare a cpp executable
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## Declare a cpp executable
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# add_executable(hand_control_node src/hand_control_node.cpp)
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add_executable(filtre src/filtre.cpp)
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target_link_libraries(filtre ${catkin_LIBRARIES})
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add_dependencies(filtre ${catkin_EXPORTED_TARGETS})
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## Add cmake target dependencies of the executable/library
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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## as an example, message headers may need to be generated before nodes
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@ -2,27 +2,26 @@
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#include <pcl_ros/point_cloud.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/point_types.h>
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typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
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typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
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class Callback
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class Callback {
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{
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public:
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public:
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operator()(const PointCloud::Ptr& msg)
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void operator()(const PointCloud::ConstPtr& msg)
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{
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{
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pub.publish(*msg);
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// copie du nuage de point
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}
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PointCloud pcl = *msg;
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// TODO : ôter les mauvais points
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publisher.publish(pcl);
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}
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Callback(ros::NodeHandle& node)
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Callback(ros::NodeHandle& node)
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{
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{
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pub = node.advertise<PointCloud>("output", 1);
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publisher = node.advertise<PointCloud>("output", 1);
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}
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}
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private:
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private:
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ros::Publisher pub;
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ros::Publisher publisher;
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};
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};
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int
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int main(int argc, char** argv)
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main(int argc, char **argv)
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{
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{
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ros::init(argc, argv, "filtre");
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ros::init(argc, argv, "filtre");
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ros::NodeHandle node;
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ros::NodeHandle node;
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