LGD/hand_control
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work on progress : filtreHue

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-06 21:00:14 +02:00
parent 1a17b44c7d
commit fd0bda6af7
2 changed files with 101 additions and 91 deletions
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1
launch/all.launch
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@ -13,6 +13,5 @@
<remap from="/estimator/input" to="/filtre/output"/>
</node>
<include file="$(find hand_control)/launch/commande.launch"/>
</launch>

55
src/filtreHue.cpp
View file

@ -2,6 +2,7 @@
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <assert.h>
typedef pcl::PointXYZRGB Point;
typedef pcl::PointCloud<Point> PointCloud;
@ -15,31 +16,41 @@ class Callback {
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);
uint8_t min, max, c;
if (pt.r >= pt.g) {
if (pt.g >= pt.b) {
max = pt.r
min = pt.b;
} else if (pt.r >= pt.b) {
max = pt.r;
min = pt.g;
} else {
max = pt.b;
min = pt.g;
}
} else if (pt.r >= pt.b) {
max = pt.g;
min = pt.b;
} else if (pt.g >= pt.b) {
max = pt.g;
min = pt.r;
} else {
max = pt.b;
min = pt.r;
}
if (h < 0) {
h += 360;
}
c = max - min;
assert(c > 0);
assert(max > pt.r);
assert(max > pt.g);
assert(max > pt.b);
assert(min < pt.r);
assert(min < pt.g);
assert(min < pt.b);
if (abs(h - hue) < delta) {
pcl->push_back(pt);
}
}
pcl->height = 1;
pcl->width = pcl->points.size();
publisher.publish(pcl);