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> <summarizationMethod (optional) 2 or 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]));
 
                std::shared_ptr<PM::DataPointsFilter> randomSample =
                        PM::get().DataPointsFilterRegistrar.create(
                                        "RandomSamplingDataPointsFilter",
                                        {{"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;
                }
 
                std::shared_ptr<PM::DataPointsFilter> voxelf =
                        PM::get().DataPointsFilterRegistrar.create(
                                        "VoxelGridDataPointsFilter",
                                        {
                                                {"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;
}