example-point-cloud.cpp

This is an example of how to use the PointCloud_<T> class.

 
#include "openev/core/types.hpp"
#include "openev/representations/point-cloud.hpp"
#include <opencv2/core/mat.inl.hpp>
#include <opencv2/core/traits.hpp>
#include <random>
 
int main(int /*argc*/, const char * /*argv*/[]) {
  ev::PointCloud pointcloud;
 
  int row = 0;
  int col = 0;
  int direction = 0;
  int offset = 0;
  double t = 0;
 
  // Initialize random number generator
  std::random_device rd;
  std::mt19937 gen(rd());
  std::uniform_int_distribution<int> dist(0, 1);
 
  while(offset < 30) {
    t += 0.1;
    pointcloud.insert(ev::Event(col, row, t, static_cast<bool>(dist(gen)) ? ev::POSITIVE : ev::NEGATIVE));
    switch(direction) {
    case 0:
      col++;
      if(col >= 50 - offset) {
        direction++;
      }
      break;
    case 1:
      row++;
      if(row >= 50 - offset) {
        direction++;
      }
      break;
    case 2:
      col--;
      if(col <= offset) {
        direction++;
        offset++;
      }
      break;
    case 3:
      row--;
      if(row <= offset) {
        direction = 0;
      }
    default:
      break;
    }
  }
  pointcloud.visualize(0, 0.4);
  return 0;
}