filterProfiler.cpp

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/*
 * filterProfiler.cpp
 *
 *  Created on: Feb 27, 2014
 *      Author: sam
 */

#include <iostream>
#include <pointmatcher/PointMatcher.h>
#include <boost/assign.hpp>
#include <ctime>
#include <time.h>

using namespace PointMatcherSupport;
using namespace std;
using namespace boost;

typedef PointMatcher<float> PM;
typedef PM::DataPoints DP;
typedef PM::Parameters Parameters;

int main(int argc, char *argv[])
{

        if (argc < 2 || argc > 3)
                {
                std::cerr << "USAGE: filterProfiler <path_to_input_cloud> <useCentroids (optional) 1 or 0>" << std::endl;
                return -1;
                }

        char* useCentroid;
        if (argc == 3) {
                if (strcmp(argv[2],"1") != 0 && strcmp(argv[2],"0")) {
                        cerr << "param useCentroid must be 1 or 0" << endl;
                        return -1;
                } else
                {
                        useCentroid = argv[2];
                }
        } else {
                useCentroid = "1";
        }

                //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));

                DP in(DP::load(argv[1]));

                PM::DataPointsFilter* randomSample(
                                PM::get().DataPointsFilterRegistrar.create(
                                                "RandomSamplingDataPointsFilter",
                                                map_list_of
                                                ("prob", toParam(0.5))
                                )
                );

                cout << "starting random sample filter" << endl;
                clock_t time_a = clock();
                randomSample->inPlaceFilter(in);
                clock_t time_b = clock();

                if (time_a == ((clock_t)-1) || time_b == ((clock_t)-1))
                {
                    perror("Unable to calculate elapsed time");
                    return -1;
                }
                else
                {
                    cout << "Performed random sampling in " << (float)(time_b - time_a)/CLOCKS_PER_SEC << " seconds" << endl;
                }

                PM::DataPointsFilter* voxelf(
                                PM::get().DataPointsFilterRegistrar.create(
                                                "VoxelGridDataPointsFilter",
                                                map_list_of
                                                ("vSizeX", "0.2")
                                                ("vSizeY", "0.2")
                                                ("vSizeZ", "0.2")
                                                ("useCentroid",useCentroid)
                                                ("averageExistingDescriptors","0")
                                )
                );

                cout << "starting voxel grid sample filter, useCentroid: " << useCentroid << endl;
                time_a = clock();
                voxelf->inPlaceFilter(in);
                time_b = clock();

                if (time_a == ((clock_t)-1) || time_b == ((clock_t)-1))
                {
                        perror("Unable to calculate elapsed time");
                        return -1;
                }
                else
                {
                        cout << "Performed voxel grid sampling in " << (float)(time_b - time_a)/CLOCKS_PER_SEC << " seconds" << endl;
                }

                return 0;
}