diff --git a/src/filtreHue.cpp b/src/filtreHue.cpp
deleted file mode 100644
index d2d9250..0000000
--- a/src/filtreHue.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#include <ros/ros.h>
-#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;
-
-class Callback {
-  public:
-    void
-      operator()(const PointCloud::ConstPtr& msg)
-      {
-        PointCloud::Ptr pcl(new PointCloud());
-        copy_info(msg, pcl);
-        BOOST_FOREACH (const Point& pt, msg->points)
-        {
-          uint8_t min, max, c;
-          
-          //Recherche du min et du max des coefficients R,G,B
-          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;
-          }
-          
-          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);
-         
-          
-          
-          pcl->height = 1;
-          pcl->width = pcl->points.size();
-          publisher.publish(pcl);
-        }
-
-        Callback(ros::Publisher& pub, int h,  int d)
-          : publisher(pub), delta(d), hue(h)  {}
-
-        private:
-        ros::Publisher publisher;
-        int delta;
-
-        int hue;
-
-        inline
-          void
-          copy_info(const PointCloud::ConstPtr& a,
-                    PointCloud::Ptr b)
-          {
-            b->header = a->header;
-            b->sensor_origin_ = a->sensor_origin_;
-            b->sensor_orientation_ = a->sensor_orientation_;
-            b->is_dense = a->is_dense;
-          }
-      };
-
-    int
-      main(int argc, char** argv)
-      {
-        ros::init(argc, argv, "filtreHue");
-        ros::NodeHandle node("filtreHue");
-
-        // récupération des paramètres
-        int hue(0);  
-        int delta(0);
-
-        if (node.getParam("hue", hue))
-        {
-          ROS_INFO("hue : %d" , hue);
-        } else {
-          node.setParam("hue", 0);
-          node.getParam("hue", hue);
-          ROS_INFO("hue : %d (default value)", hue);
-        }
-
-        if (node.getParam("delta", delta))
-        {
-          ROS_INFO("delta : %d" , delta);
-        } else {
-          node.setParam("delta", 0);
-          node.getParam("delta", delta);
-          ROS_INFO("delta : %d (default value)", delta);
-        }
-
-
-        // initialisatio
-        ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
-        Callback callback(publisher, (int) hue, (int) delta);
-        ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
-
-        // démarrage
-        ROS_INFO("node started");
-        ros::spin();
-        ROS_INFO("exit");
-        return 0;
-      }
diff --git a/src/filtreRGB.cpp b/src/filtreRGB.cpp
deleted file mode 100644
index ee1420a..0000000
--- a/src/filtreRGB.cpp
+++ /dev/null
@@ -1,116 +0,0 @@
-#include <ros/ros.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-#include <pcl/filters/passthrough.h>
-
-typedef pcl::PointXYZRGB Point;
-typedef pcl::PointCloud<Point> PointCloud;
-
-class Callback {
-  public:
-    void
-    operator()(const PointCloud::ConstPtr& msg)
-    {
-      PointCloud::Ptr pcl(new PointCloud());
-      copy_info(msg, pcl);
-      BOOST_FOREACH (const Point& pt, msg->points)
-      {
-        if (abs(pt.r-red) <= delta and abs(pt.g-green) <= delta and abs(pt.b-blue) <= delta)
-          pcl->push_back(pt);
-      }
-      pcl->height = 1;
-      pcl->width = pcl->points.size();
-      publisher.publish(pcl);
-    }
-
-    Callback(ros::Publisher& pub, uint8_t r, uint8_t g, uint8_t b, uint8_t d)
-    : publisher(pub), delta(d), red(r), green(g), blue(b) {}
-
-  private:
-    ros::Publisher publisher;
-    uint8_t delta;
-
-    uint8_t red;
-    uint8_t green;
-    uint8_t blue;
-
-    inline
-    void
-    copy_info(const PointCloud::ConstPtr& a,
-              PointCloud::Ptr b)
-    {
-      b->header = a->header;
-      b->sensor_origin_ = a->sensor_origin_;
-      b->sensor_orientation_ = a->sensor_orientation_;
-      b->is_dense = a->is_dense;
-    }
-};
-
-int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "filtreRGB");
-  ros::NodeHandle node("filtreRGB");
-
-  // récupération des paramètres
-  uint8_t red(0);
-  uint8_t blue(0);
-  uint8_t green(0);
-  
-  uint8_t delta(0);
-
-  int redInt;
-  int greenInt;
-  int blueInt;
-
-  int deltaInt;
-
-  if (node.getParam("red",  redInt))
-  {
-    ROS_INFO("red : %d" , redInt);
-  } else {
-    node.setParam("red", 0);
-    node.getParam("red", redInt);
-    ROS_INFO("red : %d (default value)", redInt);
-  }
-
-  if (node.getParam("blue", blueInt))
-  {
-  
-    ROS_INFO("blue : %d" , blueInt);
-  } else {
-    node.setParam("blue", 0);
-    node.getParam("blue", blueInt);
-    ROS_INFO("blue : %d (default value)", blueInt);
-  }
-
-  if (node.getParam("green", greenInt))
-  {
-    ROS_INFO("green : %d" , greenInt);
-  } else {
-    node.setParam("green", 0);
-    node.getParam("green", greenInt);
-    ROS_INFO("green : %d (default value)", greenInt);
-  }
-
-  if (node.getParam("delta", deltaInt))
-  {
-    ROS_INFO("delta : %d" , deltaInt);
-  } else {
-    node.setParam("delta", 0);
-    node.getParam("delta", deltaInt);
-    ROS_INFO("delta : %d (default value)", deltaInt);
-  }
- 
-
-  // initialisatio
-  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
-  Callback callback(publisher, (uint8_t) redInt, (uint8_t) greenInt, (uint8_t) blueInt, (uint8_t) deltaInt);
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback);
-
-  // démarrage
-  ROS_INFO("node started");
-  ros::spin();
-  ROS_INFO("exit");
-  return 0;
-}