profile_depth_seg.cpp

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// PCL:
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/file_io.h>

// stack includes:
#include "cob_3d_mapping_common/stop_watch.h"
#include "cob_3d_mapping_common/point_types.h"
#include "cob_3d_features/organized_normal_estimation_omp.h"
#include "cob_3d_segmentation/depth_segmentation.h"
#include "cob_3d_segmentation/cluster_classifier.h"

using namespace pcl;

typedef cob_3d_segmentation::PredefinedSegmentationTypes ST;

class PerformanceTester
{
public:
  PerformanceTester()
    : l(new PointCloud<PointLabel>)
    , n(new PointCloud<Normal>)
    , g(new ST::Graph)
  {
    one.setOutputLabels(l);
    one.setPixelSearchRadius(8,2,2); //radius,pixel,circle
    one.setSkipDistantPointThreshold(6.0);
    seg.setNormalCloudIn(n);
    seg.setLabelCloudInOut(l);
    seg.setClusterGraphOut(g);
  }

  void
  computeForOneCloud(PointCloud<PointXYZRGB>::ConstPtr cloud)
  {
    PrecisionStopWatch t;
    t.precisionStart();
    one.setInputCloud(cloud);
    one.compute(*n);
    std::cout << t.precisionStop() << " | ";
    t.precisionStart();
    seg.setInputCloud(cloud);
    seg.performInitialSegmentation();
    seg.refineSegmentation();
    std::cout << t.precisionStop() << std::endl;
  }

private:
  PointCloud<PointLabel>::Ptr l;
  PointCloud<Normal>::Ptr n;
  ST::Graph::Ptr g;
  cob_3d_segmentation::DepthSegmentation<ST::Graph, ST::Point, ST::Normal, ST::Label> seg;
  cob_3d_features::OrganizedNormalEstimationOMP<PointXYZRGB, Normal, PointLabel> one;

};

int main (int argc, char** argv)
{
  if (argc != 2)
  {
    std::cout << "Please provide a folder containing multiple pcd files" << std::endl;
    return 0;
  }

  PerformanceTester pt;
  PCDReader r;
  std::vector<std::string> files;
  getAllPcdFilesInDirectory(argv[1], files);
  std::vector<PointCloud<PointXYZRGB>::Ptr> clouds;
  for (std::vector<std::string>::iterator it = files.begin(); it != files.end(); ++it)
  {
    clouds.push_back(PointCloud<PointXYZRGB>::Ptr(new PointCloud<PointXYZRGB>));
    r.read( argv[1] + *it, *(clouds.back()) );
  }

  int i = 0;
  while (i < 20)
  {
    std::vector<PointCloud<PointXYZRGB>::Ptr>::iterator p = clouds.begin();
    std::cout << "Run #"<< i << std::endl;
    while(p != clouds.end())
    {
      pt.computeForOneCloud(*p);
      ++p;
    }
    ++i;
  }

  return 0;
}