int main(int argc, char** argv) {
ros::init(argc, argv, "downsample");
ros::NodeHandle n;
downsample_pub = n.advertise<sensor_msgs::PointCloud2>("/downsample", 10);
depth_sub = n.subscribe("/camera/depth/points", 10, depthPointsCallback);
ros::Rate loop_rate(10);
// Set variables for filters
vox.setLeafSize (0.01, 0.01, 0.01);
sor.setMeanK (10);
sor.setStddevMulThresh (0.1);
ec.setClusterTolerance (0.02); // 2cm
ec.setMinClusterSize (20);
ec.setMaxClusterSize (25000);
ec.setSearchMethod (tree);
//seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setDistanceThreshold (0.02);
while(ros::ok()) {
ros::spin();
}
return 0;
}
Extractor() {
tree.reset(new pcl::KdTreeFLANN<Point > ());
cloud.reset(new pcl::PointCloud<Point>);
cloud_filtered.reset(new pcl::PointCloud<Point>);
cloud_normals.reset(new pcl::PointCloud<pcl::Normal>);
coefficients_plane_.reset(new pcl::ModelCoefficients);
coefficients_cylinder_.reset(new pcl::ModelCoefficients);
inliers_plane_.reset(new pcl::PointIndices);
inliers_cylinder_.reset(new pcl::PointIndices);
// Filter Pass
pass.setFilterFieldName("z");
pass.setFilterLimits(-100, 100);
// VoxelGrid for Downsampling
LEAFSIZE = 0.01f;
vg.setLeafSize(LEAFSIZE, LEAFSIZE, LEAFSIZE);
// Any object < CUT_THRESHOLD will be abandoned.
//CUT_THRESHOLD = (int) (LEAFSIZE * LEAFSIZE * 7000000); // 700
CUT_THRESHOLD = 700; //for nonfiltering
// Clustering
cluster_.setClusterTolerance(0.06 * UNIT);
cluster_.setMinClusterSize(50.0);
cluster_.setSearchMethod(clusters_tree_);
// Normals
ne.setSearchMethod(tree);
ne.setKSearch(50); // 50 by default
// plane SAC
seg_plane.setOptimizeCoefficients(true);
seg_plane.setModelType(pcl::SACMODEL_NORMAL_PLANE);
seg_plane.setNormalDistanceWeight(0.1); // 0.1
seg_plane.setMethodType(pcl::SAC_RANSAC);
seg_plane.setMaxIterations(1000); // 10000
seg_plane.setDistanceThreshold(0.05); // 0.03
// cylinder SAC
seg_cylinder.setOptimizeCoefficients(true);
seg_cylinder.setModelType(pcl::SACMODEL_CYLINDER);
seg_cylinder.setMethodType(pcl::SAC_RANSAC);
seg_cylinder.setNormalDistanceWeight(0.1);
seg_cylinder.setMaxIterations(10000);
seg_cylinder.setDistanceThreshold(0.02); // 0.05
seg_cylinder.setRadiusLimits(0.02, 0.07); // [0, 0.1]
}
