cob_3d_segmentation: segmentation_main

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00001 
00059 #include "cob_3d_features/segmentation.h"
00060 #include <pcl/io/pcd_io.h>
00061 #include <highgui.h>
00062 
00063 int main()
00064 {
00065   cob_3d_features::Segmentation seg;
00066   pcl::PointCloud<PointLabel>::Ptr cloud_in = pcl::PointCloud<PointLabel>::Ptr (new pcl::PointCloud<PointLabel>);
00067   cv::Mat seg_img;
00068   std::vector<pcl::PointIndices> cluster_indices;
00069   /*cloud_in->points.resize(900);
00070   cloud_in->width = 30;
00071   cloud_in->height = 30;
00072   for(unsigned int i=0; i<30; i++)
00073   {
00074     for(unsigned int j=0; j<30; j++)
00075     {
00076       cloud_in->points[i*30+j].label = 0;
00077       if(i<14 && j==14) cloud_in->points[i*30+j].label = 1;
00078       if(i>16 && j==14) cloud_in->points[i*30+j].label = 1;
00079     }
00080   }
00081   //pcl::io::loadPCDFile("/home/goa/pcl_daten/corner/output/edge_cloud.pcd",*cloud_in);
00082   seg.propagateWavefront2(cloud_in);
00083   seg.getClusterIndices(cloud_in, cluster_indices, seg_img);
00084   cv::imshow("seg",seg_img);
00085 
00086   for(unsigned int i=0; i<30; i++)
00087   {
00088     for(unsigned int j=0; j<30; j++)
00089     {
00090       cloud_in->points[i*30+j].label = 0;
00091       if(j<14 && i==14) cloud_in->points[i*30+j].label = 1;
00092       if(j>16 && i==14) cloud_in->points[i*30+j].label = 1;
00093     }
00094   }
00095   //pcl::io::loadPCDFile("/home/goa/pcl_daten/corner/output/edge_cloud.pcd",*cloud_in);
00096   seg.propagateWavefront2(cloud_in);
00097   seg.getClusterIndices(cloud_in, cluster_indices, seg_img);
00098   cv::imshow("seg2",seg_img);
00099 
00100   for(unsigned int i=0; i<30; i++)
00101   {
00102     for(unsigned int j=0; j<30; j++)
00103     {
00104       cloud_in->points[i*30+j].label = 0;
00105       if(i<14 && j==14) cloud_in->points[i*30+j].label = 1;
00106       if(i>16 && j==15) cloud_in->points[i*30+j].label = 1;
00107     }
00108   }
00109   //pcl::io::loadPCDFile("/home/goa/pcl_daten/corner/output/edge_cloud.pcd",*cloud_in);
00110   seg.propagateWavefront2(cloud_in);
00111   seg.getClusterIndices(cloud_in, cluster_indices, seg_img);
00112   cv::imshow("seg3",seg_img);
00113 
00114   for(unsigned int i=0; i<30; i++)
00115   {
00116     for(unsigned int j=0; j<30; j++)
00117     {
00118       cloud_in->points[i*30+j].label = 0;
00119       if(i<14 && j==14) cloud_in->points[i*30+j].label = 1;
00120     }
00121   }
00122   //pcl::io::loadPCDFile("/home/goa/pcl_daten/corner/output/edge_cloud.pcd",*cloud_in);
00123   seg.propagateWavefront2(cloud_in);
00124   seg.getClusterIndices(cloud_in, cluster_indices, seg_img);
00125   cv::imshow("seg4",seg_img);*/
00126 
00127   pcl::io::loadPCDFile("/home/goa/pcl_daten/corner/output/edge_cloud.pcd",*cloud_in);
00128   pcl::PointCloud<PointLabel>::Ptr cloud_in_c = pcl::PointCloud<PointLabel>::Ptr (new pcl::PointCloud<PointLabel>);
00129   for(unsigned int i=0; i<cloud_in->points.size(); i++)
00130   {
00131     if(i>=64000)
00132     {
00133       cloud_in_c->points.push_back(cloud_in->points[i]);
00134     }
00135   }
00136   cloud_in_c->width = 640;
00137   cloud_in_c->height = 380;
00138   seg.propagateWavefront2(cloud_in_c);
00139   seg.getClusterIndices(cloud_in_c, cluster_indices, seg_img);
00140   cv::imshow("seg_real",seg_img);
00141 
00142   cv::waitKey();
00143   return 0;
00144 }