modularization/src/detection/detection_lidar_transfusion/main.cpp

#include <QCoreApplication>

#include "transfusion_call.h"

transfusion_call * gptf;

#include <pcl/io/pcd_io.h>

#include <QFile>


void LoadBin(pcl::PointCloud<pcl::PointXYZI>::Ptr & point_cloud,std::string strpath)
{
    pcl::PointXYZI xp;

    point_cloud->height = 1;

    QFile xFile;
    xFile.setFileName(strpath.data());
    if(xFile.open(QIODevice::ReadOnly))
    {
        while(1)
        {
        float x,y,z,i,ring;
        int nread;
//        std::cout<<"float size : "<<sizeof(float)<<std::endl;
        nread = xFile.read((char *)&x,sizeof(float));
        if(nread < 1)break;
        xFile.read((char *)&y,sizeof(float));
        xFile.read((char *)&z,sizeof(float));
        xFile.read((char *)&i,sizeof(float));
 //       xFile.read((char *)&ring,sizeof(float));
 //       std::cout<<x<<" "<<y<<" "<<z<<" "<<i<<std::endl;
        xp.x = x; xp.y = y; xp.z = z; xp.intensity = i ;
        std::cout<<" x: "<<xp.x<<" y:"<<xp.y<<" z:"<<xp.z<<" int:"<<xp.intensity<<" ring:"<<ring<<std::endl;
        point_cloud->points.push_back(xp);++point_cloud->width;
        }
    }
    xFile.close();

//    pcl::io::savePCDFile("/home/nvidia/kittypcd.pcd",*point_cloud);

}

void testdet(std::string & path)
{
    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
                new pcl::PointCloud<pcl::PointXYZI>());

 //   pcl::io::loadPCDFile<pcl::PointXYZI>(path,*point_cloud);

    LoadBin(point_cloud, path);

    std::vector<Box3D> det_boxes3d;
    int i;
    for(i=0;i<10;i++)
    {
    gptf ->detect(point_cloud,det_boxes3d);
    std::cout<<" box size: "<<det_boxes3d.size()<<std::endl;
    }
}


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

    gptf = new transfusion_call();

    std::string strpath = "/home/nvidia/data/tem/000005.bin";// "/home/nvidia/1.pcd"; //
    testdet(strpath);

    return a.exec();
}