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affichage sortie filtre

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-04-22 22:23:26 +02:00
parent f59b124658
commit ba815f3abc
2 changed files with 13 additions and 1 deletions
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12
hand_control/src/filtre.cpp
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@ -18,12 +18,24 @@ class Callback {
// filtrage // filtrage
double zmax(0.); double zmax(0.);
ros::param::getCached("zmax", zmax); ros::param::getCached("zmax", zmax);
ROS_INFO("zmax : %f", zmax);
z_filtre.setFilterLimits(0.0, zmax); z_filtre.setFilterLimits(0.0, zmax);
z_filtre.setInputCloud(pcl); z_filtre.setInputCloud(pcl);
z_filtre.filter(*pcl); z_filtre.filter(*pcl);
// publication // publication
publisher.publish(pcl); publisher.publish(pcl);
ROS_INFO("PointCloud published"); ROS_INFO("PointCloud published");
ROS_INFO("filtered cloud :");
for(int i = 0; i < pcl->points.size(); ++i)
{
ROS_INFO("\nx : %f\ny : %f\nz : %f\nr : %d\ng : %d\nb : %d",
pcl->points[i].x,
pcl->points[i].y,
pcl->points[i].z,
pcl->points[i].r,
pcl->points[i].g,
pcl->points[i].b);
}
} }
Callback(ros::Publisher& pub) : publisher(pub), z_filtre() Callback(ros::Publisher& pub) : publisher(pub), z_filtre()

2
hand_control/src/random_pcl_publisher.cpp
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@ -14,7 +14,7 @@ class Generator
public: public:
Generator(int l) : length(l), cgen() Generator(int l) : length(l), cgen()
{ {
UGenerator::Parameters params(-100, 100,-1); UGenerator::Parameters params(0, 900, -1);
cgen.setParameters(params); cgen.setParameters(params);
} }