ann_grid_demo.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include <ros/ros.h>
00037 #include "jsk_footstep_planner/ann_grid.h"
00038 
00039 using namespace jsk_footstep_planner;
00040 
00041 int main(int argc, char** argv)
00042 {
00043   ros::init(argc, argv, "ann_grid_demo");
00044   pcl::PointCloud<pcl::PointNormal> cloud;
00045   for (double x = -2; x < 2; x += 0.01) {
00046     for (double y = -2; y < 2; y += 0.01) {
00047       pcl::PointNormal p;
00048       p.x = x;
00049       p.y = y;
00050       p.z = cos(x) * cos(y);
00051       cloud.points.push_back(p);
00052     }
00053   }
00054   ANNGrid::Ptr ann_grid(new ANNGrid(0.1));
00055   ann_grid->build(cloud);
00056   cv::Mat grid_image;
00057   ann_grid->toImage(grid_image);
00058   std::cout << "ann grid size is "
00059             << grid_image.rows << "x" << grid_image.cols << std::endl;
00060   cv::imshow("ann_grid", grid_image);
00061 
00062   cv::Mat grid_image2;
00063   ANNGrid::IndexArray pixels = ann_grid->bresenham(Eigen::Vector3f(1, 1, 0), Eigen::Vector3f(-1, -1, 0));
00064   ann_grid->toImage(grid_image2, pixels);
00065   cv::imshow("ann_grid2", grid_image2);
00066 
00067   cv::Mat grid_image3;
00068   ANNGrid::IndexArray box_pixels = ann_grid->box(Eigen::Vector3f(1, 1, 0),
00069                                                  Eigen::Vector3f(-1, 1, 0),
00070                                                  Eigen::Vector3f(-1, -1, 0),
00071                                                  Eigen::Vector3f(1, -1, 0));
00072   ann_grid->toImage(grid_image3, box_pixels);
00073   cv::imshow("ann_grid3", grid_image3);
00074 
00075   cv::Mat grid_image4;
00076   ANNGrid::IndexArray filled_pixels = ann_grid->fillByBox(Eigen::Vector3f(1, 1, 0),
00077                                                           Eigen::Vector3f(-1, 1, 0),
00078                                                           Eigen::Vector3f(-1, -1, 0),
00079                                                           Eigen::Vector3f(1, -1, 0));
00080   std::cout << "filled pixels: " << filled_pixels.size() << std::endl;
00081   ann_grid->toImage(grid_image4, filled_pixels);
00082   cv::imshow("ann_grid4", grid_image4);
00083 
00084   pcl::PointIndices near_indices;
00085   ann_grid->approximateSearchInBox(Eigen::Vector3f(1, 1, 0),
00086                                    Eigen::Vector3f(-1, 1, 0),
00087                                    Eigen::Vector3f(-1, -1, 0),
00088                                    Eigen::Vector3f(1, -1, 0),
00089                                    near_indices);
00090   for (size_t i = 0; i < near_indices.indices.size(); i++) {
00091     std::cout << cloud.points[near_indices.indices[i]] << std::endl;
00092   }
00093   
00094   while(1) {
00095     cv::waitKey(0);
00096   }
00097   return 0;
00098 }


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:37:56