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lines from clusters presentation

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This commit is contained in:
caroline 2022-05-03 18:15:01 +02:00
parent 34b4d62856
commit 784fdc0a8d
2 changed files with 14 additions and 38 deletions
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6
cfg/config.cfg
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@ -15,18 +15,18 @@ gen.add("zbpos", double_t, 0, "Max bound of Z - Axis cropping", 5, -5, 5)
gen.add("zbneg", double_t, 0, "Min bound of Z - Axis cropping", 0, -5, 5)
gen.add("rotx", double_t, 0, "Rotation of cloud around X - Axis", 0, 0, 180)
gen.add("roty", double_t, 0, "Rotation of cloud around Y - Axis", 0, 0, 180)
gen.add("roty", double_t, 0, "Rotation of cloud around Y - Axis", 30, 0, 180)
gen.add("rotz", double_t, 0, "Rotation of cloud around Z - Axis", 0, 0, 180)
gen.add("movex", double_t, 0, "Move along X - Axis", 0, -10, 10)
gen.add("movey", double_t, 0, "Move along Y - Axis", 0, -10, 10)
gen.add("movez", double_t, 0, "Move along Z - Axis", 0, -10, 10)
gen.add("passx_min", double_t, 0, "Start value for Passthrough Filtering for X - Axis", 0.0, -5.0 , 5.0)
gen.add("passx_min", double_t, 0, "Start value for Passthrough Filtering for X - Axis", -5.0, -5.0 , 5.0)
gen.add("passx_max", double_t, 0, "End value for Passthrough Filtering for X - Axis", 5.0, -5.0 , 5.0)
gen.add("passy_min", double_t, 0, "Start value for Passthrough Filtering for Y - Axis", -5.0, -5.0 , 5.0)
gen.add("passy_max", double_t, 0, "End value for Passthrough Filtering for Y - Axis", 5.0, -5.0 , 5.0)
gen.add("passz_min", double_t, 0, "Start value for Passthrough Filtering for Z - Axis", 0.0, -5.0 , 5.0)
gen.add("passz_min", double_t, 0, "Start value for Passthrough Filtering for Z - Axis", -5.0, -5.0 , 5.0)
gen.add("passz_max", double_t, 0, "End value for Passthrough Filtering for Z - Axis", 5.0, -5.0 , 5.0)
gen.add("voxel_size", double_t, 0, "Size of the Leafs for the Voxel Filter", 0.02, 0.0 , 0.1)

46
src/initial_processing.cpp
View File

@ -57,10 +57,7 @@ ros::Publisher visual;
ros::Publisher steer;
ros::Publisher image_pub;
ros::Publisher line_pub;
ros::Publisher pub4_1;
ros::Publisher pub4_2;
ros::Publisher pub4_3;
ros::Publisher pub4_4;
ros::Publisher pub_lines;
float xbpos = 5.0;
float xbneg = 0.0;
@ -69,16 +66,16 @@ float ybneg = -5.0;
float zbpos = 5.0;
float zbneg = 0.0;
float rotx = 0;
float roty = 0;
float roty = 30;
float rotz = 0;
float movex = 0.0;
float movey = 0.0;
float movez = 0.0;
float passx_min = 0.0;
float passx_min = -5.0;
float passx_max = 5.0;
float passy_min = -5.0;
float passy_max = 5.0;
float passz_min = 0.0;
float passz_min = -5.0;
float passz_max = 5.0;
float voxel_size = 0.02;
float Pseg_dist = 0.025;
@ -503,9 +500,9 @@ void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg){
point.y = pt_line_y;
point.z = pt_line_z;
middle_line.points.push_back(point);
point.x = pt_line_x+pt_direction_x;
point.y = pt_line_y+pt_direction_y;
point.z = pt_line_z+pt_direction_z;
point.x = pt_line_x+3*pt_direction_x;
point.y = pt_line_y+3*pt_direction_y;
point.z = pt_line_z+3*pt_direction_z;
middle_line.points.push_back(point);
}
@ -524,29 +521,11 @@ void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg){
middle_line.header.frame_id = "base_link";
line_pub.publish (middle_line);
//sensor_msgs::PointCloud2 line_cloud_1,line_cloud_2,line_cloud_3,line_cloud_4;
/*pcl::toROSMsg(*final_1, line_cloud_1);
pcl::toROSMsg(*final_2, line_cloud_2);
pcl::toROSMsg(*final_3, line_cloud_3);
pcl::toROSMsg(*final_4, line_cloud_4);
line_cloud_1.header.frame_id = "base_link";
line_cloud_2.header.frame_id = "base_link";
line_cloud_3.header.frame_id = "base_link";
line_cloud_4.header.frame_id = "base_link";
//pub4_2.publish(line_cloud_2);
//pub4_3.publish(line_cloud_3);
//pub4_4.publish(line_cloud_4);*/
sensor_msgs::PointCloud2 line_cloud;
pcl::toROSMsg(cluster_lines, line_cloud);
line_cloud.header.frame_id = "base_link";
pub4_1.publish(line_cloud);
pub_lines.publish(line_cloud);
}
}
// convert to ROS data type
@ -576,16 +555,13 @@ int main(int argc, char **argv){
pub2 = n.advertise<sensor_msgs::PointCloud2>("processed_cloud", 1);
pub3 = n.advertise<sensor_msgs::PointCloud2>("clustered_cloud", 1);
pub4 = n.advertise<sensor_msgs::PointCloud2>("line_cloud", 1);
marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 10);
marker_pub2 = n.advertise<visualization_msgs::Marker>("visualization_marker2", 10);
marker_pub = n.advertise<visualization_msgs::Marker>("bounding_box", 10);
marker_pub2 = n.advertise<visualization_msgs::Marker>("passthrough_box", 10);
steer = n.advertise<visualization_msgs::Marker>("centroid_marker", 1);
image_pub = n.advertise<sensor_msgs::Image>("pcl_image", 30);
line_pub = n.advertise<visualization_msgs::Marker>("center_line", 10);
pub4_1 = n.advertise<sensor_msgs::PointCloud2>("line_cloud_1", 1);
pub4_2 = n.advertise<sensor_msgs::PointCloud2>("line_cloud_2", 1);
pub4_3 = n.advertise<sensor_msgs::PointCloud2>("line_cloud_3", 1);
pub4_4 = n.advertise<sensor_msgs::PointCloud2>("line_cloud_4", 1);
pub_lines = n.advertise<sensor_msgs::PointCloud2>("line_clouds", 1);
// create publisher for visualising marker
visual = n.advertise<visualization_msgs::Marker> ("marker", 1);