ann_grid_demo.cpp
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35 
36 #include <ros/ros.h>
38 
39 using namespace jsk_footstep_planner;
40 
41 int main(int argc, char** argv)
42 {
43  ros::init(argc, argv, "ann_grid_demo");
44  pcl::PointCloud<pcl::PointNormal> cloud;
45  for (double x = -2; x < 2; x += 0.01) {
46  for (double y = -2; y < 2; y += 0.01) {
47  pcl::PointNormal p;
48  p.x = x;
49  p.y = y;
50  p.z = cos(x) * cos(y);
51  cloud.points.push_back(p);
52  }
53  }
54  ANNGrid::Ptr ann_grid(new ANNGrid(0.1));
55  ann_grid->build(cloud);
56  cv::Mat grid_image;
57  ann_grid->toImage(grid_image);
58  std::cout << "ann grid size is "
59  << grid_image.rows << "x" << grid_image.cols << std::endl;
60  cv::imshow("ann_grid", grid_image);
61 
62  cv::Mat grid_image2;
63  ANNGrid::IndexArray pixels = ann_grid->bresenham(Eigen::Vector3f(1, 1, 0), Eigen::Vector3f(-1, -1, 0));
64  ann_grid->toImage(grid_image2, pixels);
65  cv::imshow("ann_grid2", grid_image2);
66 
67  cv::Mat grid_image3;
68  ANNGrid::IndexArray box_pixels = ann_grid->box(Eigen::Vector3f(1, 1, 0),
69  Eigen::Vector3f(-1, 1, 0),
70  Eigen::Vector3f(-1, -1, 0),
71  Eigen::Vector3f(1, -1, 0));
72  ann_grid->toImage(grid_image3, box_pixels);
73  cv::imshow("ann_grid3", grid_image3);
74 
75  cv::Mat grid_image4;
76  ANNGrid::IndexArray filled_pixels = ann_grid->fillByBox(Eigen::Vector3f(1, 1, 0),
77  Eigen::Vector3f(-1, 1, 0),
78  Eigen::Vector3f(-1, -1, 0),
79  Eigen::Vector3f(1, -1, 0));
80  std::cout << "filled pixels: " << filled_pixels.size() << std::endl;
81  ann_grid->toImage(grid_image4, filled_pixels);
82  cv::imshow("ann_grid4", grid_image4);
83 
84  pcl::PointIndices near_indices;
85  ann_grid->approximateSearchInBox(Eigen::Vector3f(1, 1, 0),
86  Eigen::Vector3f(-1, 1, 0),
87  Eigen::Vector3f(-1, -1, 0),
88  Eigen::Vector3f(1, -1, 0),
89  near_indices);
90  for (size_t i = 0; i < near_indices.indices.size(); i++) {
91  std::cout << cloud.points[near_indices.indices[i]] << std::endl;
92  }
93 
94  while(1) {
95  cv::waitKey(0);
96  }
97  return 0;
98 }
ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array.
Definition: ann_grid.h:93
double cos()
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
double y
int main(int argc, char **argv)
pcl::PointCloud< pcl::PointNormal >::Ptr cloud
std::vector< Index > IndexArray
Definition: ann_grid.h:98
double x


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28