Go to the documentation of this file.00001 #include <ndt_map.h>
00002
00003 #include <lazy_grid.h>
00004
00005 #include <pointcloud_utils.h>
00006
00007
00008 #include "pcl/point_cloud.h"
00009
00010 #include "pcl/io/pcd_io.h"
00011 #include "pcl/features/feature.h"
00012 #include <cstdio>
00013 #include <cstring>
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023 #include <Eigen/Eigen>
00024
00025 using namespace std;
00026
00027 int main (int argc, char** argv)
00028 {
00029 if(argc < 2)
00030 {
00031 cout << "[ USAGE ] jffSaveTest cloud\n";
00032 exit(1);
00033 }
00034
00035 cout << "Started saveTest.\n";
00036
00037 pcl::PointCloud<pcl::PointXYZ> cloud;
00038 char fname[] = "test_wrl.wrl";
00039
00040 cloud = lslgeneric::readVRML<pcl::PointXYZ>(argv[1]);
00041
00042 lslgeneric::NDTMap<pcl::PointXYZ> nd(new lslgeneric::LazyGrid<pcl::PointXYZ>(0.2));
00043
00044 nd.loadPointCloud(cloud);
00045 nd.computeNDTCells();
00046
00047 nd.writeToVRML(fname);
00048
00049 if (nd.writeToJFF("LazyGrid.jff") < 0)
00050 cout << "writing to jff failed\n";
00051
00052 cout << "Finished saveTest.\n";
00053
00054 return 0;
00055 }
00056