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- Commented out cout statements in depth_camera_node
This commit is contained in:
Sravan Balaji
2020-04-27 17:20:44 -04:00
parent 24d9bba7e0
commit da64445e9c
1 changed files with 7 additions and 7 deletions
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14
src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp
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@@ -159,13 +159,13 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
z /= s; z /= s;
// print cluster center // print cluster center
std::cout << "cluster at: " << x << ", " << y << ", " << z << std::endl; // std::cout << "cluster at: " << x << ", " << y << ", " << z << std::endl;
// check if center is within box // check if center is within box
if (x < 1.25 && x > 1.15 && y < cam_y + .05 && y > cam_y - .05) if (x < 1.25 && x > 1.15 && y < cam_y + .05 && y > cam_y - .05)
{ {
// object detected // object detected
std::cout << "object in position" << std::endl; // std::cout << "object in position" << std::endl;
obj_idx = j; obj_idx = j;
} }
@@ -187,7 +187,7 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
obj_cloud.push_back(point); obj_cloud.push_back(point);
} }
std::cout << "object cluster size: " << obj_cloud.points.size() << std::endl; // std::cout << "object cluster size: " << obj_cloud.points.size() << std::endl;
// create 3D bounding box. // create 3D bounding box.
float xmin = 10.0; float xmin = 10.0;
@@ -211,8 +211,8 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
float area_top = (ymax - ymin) * (xmax - xmin); float area_top = (ymax - ymin) * (xmax - xmin);
float area_side = (zmax - zmin) * (ymax - ymin); float area_side = (zmax - zmin) * (ymax - ymin);
std::cout << "object top area: " << area_top << std::endl; // std::cout << "object top area: " << area_top << std::endl;
std::cout << "object side area: " << area_side << std::endl; // std::cout << "object side area: " << area_side << std::endl;
geometry_msgs::Pose pose; geometry_msgs::Pose pose;
geometry_msgs::Point p; geometry_msgs::Point p;
@@ -221,7 +221,7 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
// pick up from top (-z direction) // pick up from top (-z direction)
if (area_top > .002) if (area_top > .002)
{ {
std::cout << "picking up object from top" << std::endl; // std::cout << "picking up object from top" << std::endl;
p.x = (xmin + xmax) / 2; p.x = (xmin + xmax) / 2;
p.y = (ymin + ymax) / 2; p.y = (ymin + ymax) / 2;
p.z = zmax; p.z = zmax;
@@ -235,7 +235,7 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
else else
{ {
// pick up from front (+x direction) // pick up from front (+x direction)
std::cout << "picking up object from front" << std::endl; // std::cout << "picking up object from front" << std::endl;
p.x = xmin; p.x = xmin;
p.y = (ymin + ymax) / 2; p.y = (ymin + ymax) / 2;
p.z = (zmax + zmin) / 2; p.z = (zmax + zmin) / 2;