diff --git a/my_pcl_tutorial/CMakeLists.txt b/my_pcl_tutorial/CMakeLists.txt new file mode 100644 index 0000000..3ef39af --- /dev/null +++ b/my_pcl_tutorial/CMakeLists.txt @@ -0,0 +1,203 @@ +cmake_minimum_required(VERSION 2.8.3) +project(my_pcl_tutorial) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + pcl_conversions + pcl_ros + roscpp + sensor_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES my_pcl_tutorial +# CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/my_pcl_tutorial.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/my_pcl_tutorial_node.cpp) +add_executable(example src/plannar_segmentation.cpp) +target_link_libraries(example ${catkin_LIBRARIES}) + + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pcl_tutorial.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/my_pcl_tutorial/CMakeLists.txt~ b/my_pcl_tutorial/CMakeLists.txt~ new file mode 100644 index 0000000..e98d09f --- /dev/null +++ b/my_pcl_tutorial/CMakeLists.txt~ @@ -0,0 +1,203 @@ +cmake_minimum_required(VERSION 2.8.3) +project(my_pcl_tutorial) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + pcl_conversions + pcl_ros + roscpp + sensor_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES my_pcl_tutorial +# CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/my_pcl_tutorial.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/my_pcl_tutorial_node.cpp) +add_executable(example src/example.cpp) +target_link_libraries(example ${catkin_LIBRARIES}) + + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pcl_tutorial.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/my_pcl_tutorial/package.xml b/my_pcl_tutorial/package.xml new file mode 100644 index 0000000..280364f --- /dev/null +++ b/my_pcl_tutorial/package.xml @@ -0,0 +1,74 @@ + + + my_pcl_tutorial + 0.0.0 + The my_pcl_tutorial package + + + + + harle + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + pcl_conversions + pcl_ros + roscpp + sensor_msgs + pcl_conversions + pcl_ros + roscpp + sensor_msgs + pcl_conversions + pcl_ros + roscpp + sensor_msgs + + libpcl-all-dev + libpcl-all + + + + + + + + diff --git a/my_pcl_tutorial/package.xml~ b/my_pcl_tutorial/package.xml~ new file mode 100644 index 0000000..8b93e07 --- /dev/null +++ b/my_pcl_tutorial/package.xml~ @@ -0,0 +1,71 @@ + + + my_pcl_tutorial + 0.0.0 + The my_pcl_tutorial package + + + + + harle + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + pcl_conversions + pcl_ros + roscpp + sensor_msgs + pcl_conversions + pcl_ros + roscpp + sensor_msgs + pcl_conversions + pcl_ros + roscpp + sensor_msgs + + + + + + + + diff --git a/my_pcl_tutorial/src/plannar_segmentation.cpp b/my_pcl_tutorial/src/plannar_segmentation.cpp new file mode 100644 index 0000000..32f62cd --- /dev/null +++ b/my_pcl_tutorial/src/plannar_segmentation.cpp @@ -0,0 +1,74 @@ +#include +// PCL specific includes +#include +#include +#include +#include + +#include +#include +#include + + +ros::Publisher pub; + +void +cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input) +{ + // Create a container for the data. + sensor_msgs::PointCloud2 output; + + //Conversions des donnée d'entrée en PCL + pcl::PCLPointCloud2 pcl_pc2; + pcl_conversions::toPCL(*input,pcl_pc2); + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::fromPCLPointCloud2(pcl_pc2,*cloud); + + //Processing + pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); + pcl::PointIndices::Ptr inliers (new pcl::PointIndices); + // Create the segmentation object + pcl::SACSegmentation seg; + // Optional + seg.setOptimizeCoefficients (true); + // Mandatory + seg.setModelType (pcl::SACMODEL_PLANE); + seg.setMethodType (pcl::SAC_RANSAC); + seg.setDistanceThreshold (0.01); + + seg.setInputCloud (cloud); + seg.segment (*inliers, *coefficients); + + ROS_INFO_STREAM("Coeff : "<values[0]<<" / "<values[1]<<" / "<values[2]<<" / "<values[3]); + + //Créations de l'output + pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); + + for (size_t i = 0; i < inliers->indices.size (); ++i) + { + pcl_output->points.push_back( cloud->points[inliers->indices[i]]); + } + pcl::toPCLPointCloud2(*pcl_output,pcl_pc2); + pcl_conversions::fromPCL(pcl_pc2, output); + + output.header.frame_id = input->header.frame_id; + + // Publish the data. + pub.publish (output); +} + +int main (int argc, char** argv) +{ + // Initialize ROS + ros::init (argc, argv, "my_pcl_tutorial"); + ros::NodeHandle nh; + + // Create a ROS subscriber for the input point cloud + ros::Subscriber sub = nh.subscribe ("/camera/depth_registered/points", 1, cloud_cb); + + // Create a ROS publisher for the output point cloud + pub = nh.advertise ("/plane_output", 1); + + // Spin + ros::spin (); +} \ No newline at end of file diff --git a/rviz_interface/rviz_interface/src/InteractiveObject.hpp b/rviz_interface/rviz_interface/src/InteractiveObject.hpp index a389386..f8ab522 100644 --- a/rviz_interface/rviz_interface/src/InteractiveObject.hpp +++ b/rviz_interface/rviz_interface/src/InteractiveObject.hpp @@ -43,7 +43,6 @@ public: // void setVisualizationPublisher(ros::Publisher* visualization_pub){ _visualization_pub=visualization_pub;} void setErrorArea(double error); - //std::vector& markers(){ return _int_markers;} InteractiveMarker& marker(){ return _int_marker;} rviz_interface::StateSpace& state(){ return _state;}