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adds Parameters.cfg for filtre

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Louis-Guillaume DUBOIS 2015-05-23 15:05:17 +02:00
parent 7fd38cbbaf
commit f18c12d64f
2 changed files with 33 additions and 11 deletions
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22
cfg/Parameters.cfg Executable file
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@ -0,0 +1,22 @@
PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
#gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)
# "filtre" node
gen.add("z_max", double_t, 0, "The maximal altitude of the hand", 50., 0.)
gen.add("hue", double_t, 0, "The color hue of the hand", 0., 0., 180.)
gen.add("delta_hue", double_t, 0, "The tolerance of the hue filter", 20., 0., 180.)
gen.add("sat_min", double_t, 0, "The minimum color sat of the hand", 0., 0., 1.)
gen.add("sat_max", double_t, 0, "The maximum color sat of the hand", 0., 0., 1.)
gen.add("val_min", double_t, 0, "The minimum color val of the hand", 0., 0., 1.)
gen.add("val_max", double_t, 0, "The maximum color val of the hand", 0., 0., 1.)
#gen.add("bool_param", bool_t, 0, "A Boolean parameter", True)
exit(gen.generate(PACKAGE, "hand_control", "Parameters"))

22
src/filtre.cpp
View file

@ -17,7 +17,7 @@ class Callback {
copy_info(msg, pcl); copy_info(msg, pcl);
BOOST_FOREACH (const Point& pt, msg->points) BOOST_FOREACH (const Point& pt, msg->points)
{ {
if (pt.z < zmax and hue_dist(pt) < delta_hue and sat(pt) < sat_max and sat(pt) > sat_min and val(pt) < val_max and val(pt) > val_min) if (pt.z < z_max and hue_dist(pt) < delta_hue and sat(pt) < sat_max and sat(pt) > sat_min and val(pt) < val_max and val(pt) > val_min)
pcl->push_back(pt); pcl->push_back(pt);
} }
pcl->height = 1; pcl->height = 1;
@ -26,10 +26,10 @@ class Callback {
} }
Callback(ros::Publisher& pub, float z, float h, float delta_h, float smin, float smax, float vmin, float vmax) Callback(ros::Publisher& pub, float z, float h, float delta_h, float smin, float smax, float vmin, float vmax)
: publisher(pub), zmax(z), hue(h), delta_hue(delta_h), sat_min(smin), sat_max(smax), val_min(vmin), val_max(vmax) : publisher(pub), z_max(z), hue(h), delta_hue(delta_h), sat_min(smin), sat_max(smax), val_min(vmin), val_max(vmax)
{ {
assert(delta_hue > 0); assert(delta_hue > 0);
assert(zmax > 0); assert(z_max > 0);
assert(hue >= 0); assert(hue >= 0);
assert(hue <= 360.); assert(hue <= 360.);
assert(sat_min >= 0); assert(sat_min >= 0);
@ -40,7 +40,7 @@ class Callback {
private: private:
ros::Publisher publisher; ros::Publisher publisher;
float zmax, hue, delta_hue, val_min, val_max, sat_min, sat_max; float z_max, hue, delta_hue, val_min, val_max, sat_min, sat_max;
inline inline
void void
@ -90,14 +90,14 @@ main(int argc, char** argv)
ros::NodeHandle node("filtre"); ros::NodeHandle node("filtre");
// récupération des paramètres // récupération des paramètres
double zmax(0); double z_max(0);
if (node.getParam("zmax", zmax)) if (node.getParam("z_max", z_max))
{ {
ROS_INFO("zmax : %f" , zmax); ROS_INFO("z_max : %f" , z_max);
} else { } else {
node.setParam("zmax", 50.0); node.setParam("z_max", 50.0);
node.getParam("zmax", zmax); node.getParam("z_max", z_max);
ROS_INFO("zmax : %f (default value)", zmax); ROS_INFO("z_max : %f (default value)", z_max);
} }
double hue(0); double hue(0);
@ -162,7 +162,7 @@ main(int argc, char** argv)
// initialisatio // initialisatio
ros::Publisher publisher = node.advertise<PointCloud>("output", 1); ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
Callback callback(publisher, (float) zmax, (float) hue, (float) delta_hue, (float) sat_min, (float) sat_max, (float) val_min, (float) val_max); Callback callback(publisher, (float) z_max, (float) hue, (float) delta_hue, (float) sat_min, (float) sat_max, (float) val_min, (float) val_max);
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback); ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
// démarrage // démarrage