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test_fov.cpp

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#include <cob_env_model/field_of_view_segmentation.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <cob_env_model/cpc_point.h>
#include <tf/transform_listener.h>

#include <boost/timer.hpp>

int main()
{
        ipa_env_model::FieldOfViewSegmentation<pcl::PointXYZ> seg;
        Eigen::Vector3d n_up;
        Eigen::Vector3d n_down;
        Eigen::Vector3d n_right;
        Eigen::Vector3d n_left;
        double maxRange = 6;
        double fovHor = 0.3;
        double fovVer = 0.7;

        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_filtered (new pcl::PointCloud<pcl::PointXYZ> ());
        pcl::PCDReader reader;
        reader.read ("tof.pcd", *cloud);
        pcl::PointIndices indices;
        seg.setInputCloud(cloud);
        boost::timer t;
        seg.computeFieldOfView();
        std::cout << "compute FOV: " << t.elapsed() << std::endl;
        t.restart();
        //seg.segment(indices,n_up,n_down,n_right,n_left,maxRange);
        std::cout << "segment: " << t.elapsed() << std::endl;

        pcl::PointCloud<pcl::PointXYZ> frustum;
        pcl::ExtractIndices<pcl::PointXYZ> extractIndices;
        //extractIndices.setInputCloud(cloud);
        //extractIndices.setIndices(boost::make_shared<pcl::PointIndices>(indices));
        //extractIndices.filter(frustum);
        pcl::io::savePCDFileASCII ("frustum.pcd", frustum);
        return 0;
}

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cob_3d_mapping_common
Author(s): Georg Arbeiter
autogenerated on Fri Mar 1 15:17:29 2013