test_amplitude_filter.cpp

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/*
 * amp_conf_filter_test.cpp
 *
 *  Created on: Apr 18, 2011
 *      Author: goa-wq
 */

//AmplitudeFilter
#include <cob_3d_mapping_filters/amplitude_filter.h>
//#include <cob_3d_mapping_filters/impl/amplitude_filter.hpp>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <cob_3d_mapping_common/point_types.h>
//#include <sensor_msgs/point_cloud_conversion.h>

#include <boost/timer.hpp>
#include "cob_3d_mapping_common/stop_watch.h"
#include <iostream>
#include <fstream>

/* Methods for testing filters */

double
TestProcessingTimeOnce (unsigned int cloud_size, unsigned int iterations)
{
  cob_3d_mapping_filters::AmplitudeFilter<PointXYZA> filter;
  pcl::PointCloud<PointXYZA>::Ptr cloud (new pcl::PointCloud<PointXYZA> ());
  pcl::PointCloud<PointXYZA>::Ptr cloud_out (new pcl::PointCloud<PointXYZA> ());

  cloud->points.resize (cloud_size);
  cloud->width = cloud_size;
  cloud->height = 1;
  for (unsigned int i = 0; i < cloud_size; i++)
  {
    PointXYZA pt;
    pt.x = pt.y = pt.z = pt.amplitude = 1;
    cloud->points[i] = pt;
  }
  filter.setInputCloud (cloud);
  //boost::timer t;
  double time = 0;
  for (unsigned int i = 0; i < iterations; i++)
  {
    PrecisionStopWatch sw;
    sw.precisionStart ();
    filter.filter (*cloud_out);
    time += sw.precisionStop ();
  }
  time /= iterations;
  std::cout << "Cloud size " << cloud_size << ": " << time << " s" << std::endl;
  return time;
}

void
TestProcessingTime ()
{
  std::ofstream file;
  file.open ("/home/goa/tmp/amplitude_filter_timing.dat");
  file << "#No. of points\ttime (s)\n";
  for (unsigned int cloud_size = 40000; cloud_size <= 400000; cloud_size += 40000)
  {
    double time = TestProcessingTimeOnce (cloud_size, 1000);
    file << cloud_size << "\t" << time << "\n";
  }
  file.close ();
}

void
DoSampleRun ()
{
  cob_3d_mapping_filters::AmplitudeFilter<PointXYZA> filter;
  pcl::PointCloud<PointXYZA>::Ptr cloud (new pcl::PointCloud<PointXYZA> ());
  pcl::PointCloud<PointXYZA>::Ptr cloud_out (new pcl::PointCloud<PointXYZA> ());
  pcl::io::loadPCDFile ("/home/goa/Ubuntu One/diss/images/raw/filter_sequence_jumpedge2.pcd", *cloud);
  filter.setFilterLimits (0.05, 1);
  filter.setInputCloud (cloud);
  filter.filter (*cloud_out);
  pcl::io::savePCDFileASCII ("/home/goa/Ubuntu One/diss/images/raw/filter_sequence_amplitude2.pcd", *cloud_out);
}

int
main ()
{
  DoSampleRun ();
  //TestProcessingTimeOnce(10000,1);
}