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Extraction de l'objet (outliners)

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Unknown 2018-06-28 18:29:58 +02:00
parent 1b6885c22c
commit 77424943e1
1 changed files with 17 additions and 4 deletions
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21
my_pcl_tutorial/src/plannar_segmentation.cpp
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@ -9,6 +9,7 @@
#include <pcl/sample_consensus/model_types.h> #include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h> #include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/extract_indices.h>
ros::Publisher pub; ros::Publisher pub;
@ -44,10 +45,22 @@ cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
//Créations de l'output //Créations de l'output
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
for (size_t i = 0; i < inliers->indices.size (); ++i) //Extraction du plan (inliners)
{ // for (size_t i = 0; i < inliers->indices.size (); ++i)
pcl_output->points.push_back( cloud->points[inliers->indices[i]]); // {
} // pcl_output->points.push_back( cloud->points[inliers->indices[i]]);
// }
//Extraction de l'objet (outliners)
//Attention bruit !
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
extract.setIndices(inliers);
extract.setNegative(true);
extract.filter(*pcl_output);
pcl::toPCLPointCloud2(*pcl_output,pcl_pc2); pcl::toPCLPointCloud2(*pcl_output,pcl_pc2);
pcl_conversions::fromPCL(pcl_pc2, output); pcl_conversions::fromPCL(pcl_pc2, output);