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Ajout launch file

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Unknown 2018-07-03 11:24:58 +02:00
parent edc072b0be
commit b146bbbb94
7 changed files with 22 additions and 10 deletions
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pcl_tests/src/plannar_segmentation.cpp Normal file
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#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/common/centroid.h>
#include <geometry_msgs/PointStamped.h>
#include <pcl/pcl_config.h>
#include <rviz_interface/NamedPoint.h>
// void printinfo()
// {
// std::cout<<"OK"<<std::endl;
// #if PCL_VERSION_COMPARE(<, 1, 7, 2)
// std::cout<<"ARG"<<std::endl;
// #endif
// };
ros::Publisher pub;
ros::Publisher pubc;
using namespace pcl;
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<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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<pcl::PointXYZ> 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 : "<<coefficients->values[0]<<" / "<<coefficients->values[1]<<" / "<<coefficients->values[2]<<" / "<<coefficients->values[3]);
//Créations de l'output
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
//Extraction du plan (inliners)
// for (size_t i = 0; i < inliers->indices.size (); ++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);
//Calcul du centre
// CentroidPoint<pcl::PointXYZ> centroid;
// for (size_t i = 0; i < pcl_output->size (); ++i)
// {
// centroid.add(*pcl_output[i]);
// }
// pcl::PointXYZ c1;
// centroid.get (c1);
Eigen::Vector4f barycentre;
pcl::compute3DCentroid(*pcl_output, barycentre);
// geometry_msgs::PointStamped center_msg;
rviz_interface::NamedPoint center_msg;
center_msg.name = "6DOF";
// for (size_t i = 0; i < pcl_output->size (); ++i)
// {
// if( pcl_output->points[i].x)
// center.point.x += pcl_output->points[i]._PointXYZ::data[0];
// center.point.y += pcl_output->points[i]._PointXYZ::data[1];
// center.point.z += pcl_output->points[i]._PointXYZ::data[2];
// ROS_INFO_STREAM("Center clioyf : "<<pcl_output->points[i].x<<" / "<<pcl_output->points[i].y<<" / "<<pcl_output->points[i].z);
// }
// center.point.x = center.point.x/pcl_output->size ();
// center.point.y = center.point.y/pcl_output->size ();
// center.point.z = center.point.z/pcl_output->size ();
center_msg.point.x = barycentre[0];
center_msg.point.y = barycentre[1];
center_msg.point.z = barycentre[2];
center_msg.header.frame_id = input->header.frame_id;
// ROS_INFO_STREAM("Center clioyf : "<<pcl_output->points[0]._PointXYZ::data[0]<<" / "<<pcl_output->points[0]._PointXYZ::data[1]<<" / "<<pcl_output->points[0]._PointXYZ::data[2]);
// ROS_INFO_STREAM("barycentre : "<<barycentre(1,1)<<" / "<<barycentre(2,1)<<" / "<<barycentre(3,1)<<" / "<< barycentre(4,1));
// ROS_INFO_STREAM("Center : "<<center_msg.point.x<<" / "<<center_msg.point.y<<" / "<<center_msg.point.z);
//Envoie du nuage de points
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);
pubc.publish( center_msg);
}
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<sensor_msgs::PointCloud2> ("/plane_output", 1);
// pubc = nh.advertise<geometry_msgs::PointStamped> ("/object_center", 1);
pubc = nh.advertise<rviz_interface::NamedPoint> ("/object_center", 1);
// printinfo();
// Spin
ros::spin ();
}