74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
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#include <ros/ros.h>
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// PCL specific includes
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/sample_consensus/method_types.h>
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#include <pcl/sample_consensus/model_types.h>
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#include <pcl/segmentation/sac_segmentation.h>
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ros::Publisher pub;
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void
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cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
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{
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// Create a container for the data.
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sensor_msgs::PointCloud2 output;
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//Conversions des donnée d'entrée en PCL
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pcl::PCLPointCloud2 pcl_pc2;
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pcl_conversions::toPCL(*input,pcl_pc2);
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::fromPCLPointCloud2(pcl_pc2,*cloud);
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//Processing
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pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
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pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
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// Create the segmentation object
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pcl::SACSegmentation<pcl::PointXYZ> seg;
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// Optional
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seg.setOptimizeCoefficients (true);
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// Mandatory
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seg.setModelType (pcl::SACMODEL_PLANE);
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seg.setMethodType (pcl::SAC_RANSAC);
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seg.setDistanceThreshold (0.01);
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seg.setInputCloud (cloud);
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seg.segment (*inliers, *coefficients);
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ROS_INFO_STREAM("Coeff : "<<coefficients->values[0]<<" / "<<coefficients->values[1]<<" / "<<coefficients->values[2]<<" / "<<coefficients->values[3]);
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//Créations de l'output
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pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
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for (size_t i = 0; i < inliers->indices.size (); ++i)
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{
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pcl_output->points.push_back( cloud->points[inliers->indices[i]]);
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}
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pcl::toPCLPointCloud2(*pcl_output,pcl_pc2);
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pcl_conversions::fromPCL(pcl_pc2, output);
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output.header.frame_id = input->header.frame_id;
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// Publish the data.
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pub.publish (output);
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}
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int main (int argc, char** argv)
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{
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// Initialize ROS
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ros::init (argc, argv, "my_pcl_tutorial");
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ros::NodeHandle nh;
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// Create a ROS subscriber for the input point cloud
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ros::Subscriber sub = nh.subscribe ("/camera/depth_registered/points", 1, cloud_cb);
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// Create a ROS publisher for the output point cloud
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pub = nh.advertise<sensor_msgs::PointCloud2> ("/plane_output", 1);
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// Spin
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ros::spin ();
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}
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