int main(int argc, char **argv) {
boost::mpi::environment env(argc, argv);
std::shared_ptr<boost::mpi::communicator> world(new
boost::mpi::communicator());
string config_file;
if (IsMaster(world)) {
ros::init(argc, argv, "real_test");
ros::NodeHandle nh("~");
nh.param("config_file", config_file, std::string(""));
}
ObjectRecognizer object_recognizer(world);
// All processes should wait until master has loaded params.
world->barrier();
broadcast(*world, config_file, kMasterRank);
ConfigParser parser;
parser.Parse(config_file);
RecognitionInput input;
input.x_min = parser.min_x;
input.x_max = parser.max_x;
input.y_min = parser.min_y;
input.y_max = parser.max_y;
input.table_height = parser.table_height;
input.camera_pose = parser.camera_pose;
input.model_names = parser.ConvertModelNamesInFileToIDs(
object_recognizer.GetModelBank());
boost::filesystem::path config_file_path(config_file);
input.heuristics_dir = ros::package::getPath("sbpl_perception") +
"/heuristics/" + config_file_path.stem().string();
// Objects for storing the point clouds.
pcl::PointCloud<PointT>::Ptr cloud_in(new PointCloud);
// Read the input PCD file from disk.
if (pcl::io::loadPCDFile<PointT>(parser.pcd_file_path.c_str(),
*cloud_in) != 0) {
cerr << "Could not find input PCD file!" << endl;
return -1;
}
input.cloud = cloud_in;
vector<ContPose> detected_poses;
object_recognizer.LocalizeObjects(input, &detected_poses);
return 0;
}
