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correct bad inequality

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Louis-Guillaume DUBOIS 2015-04-30 17:30:53 +02:00
parent 74386e1a9f
commit c36ff5a5aa
1 changed files with 6 additions and 12 deletions
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18
src/filtre.cpp
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@ -10,27 +10,21 @@ class Callback {
void void
operator()(const PointCloud::ConstPtr& msg) operator()(const PointCloud::ConstPtr& msg)
{ {
ROS_INFO("PointCloud received");
// pour publier un shared_ptr (mieux)
PointCloud::Ptr pcl(new PointCloud()); PointCloud::Ptr pcl(new PointCloud());
// filtrage
double zmax(0.);
ros::param::getCached("/filtre/zmax", zmax);
ROS_INFO("zmax : %f", zmax);
for (int i = 0; i < msg->points.size(); ++i) for (int i = 0; i < msg->points.size(); ++i)
{ {
if (msg->points[i].z > zmax) if (msg->points[i].z < zmax)
pcl->points.push_back(msg->points[i]); pcl->points.push_back(msg->points[i]);
} }
// publication
publisher.publish(pcl); publisher.publish(pcl);
ROS_INFO("PointCloud published");
} }
Callback(ros::Publisher& pub) : publisher(pub) {} Callback(ros::Publisher& pub, float z)
: publisher(pub), zmax(z) {}
private: private:
ros::Publisher publisher; ros::Publisher publisher;
float zmax;
}; };
int int
@ -50,9 +44,9 @@ main(int argc, char** argv)
ROS_INFO("zmax : %f (default value)", zmax); ROS_INFO("zmax : %f (default value)", zmax);
} }
// initialisation // initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1); ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Callback callback(publisher); Callback callback(publisher, (float) zmax);
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback); ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage // démarrage