optimization_main.cpp

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#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <ros/init.h>
#endif
#include <Optimization/abstract_optimizer.h>
#include <Transformation/transformationfile_manager_XML.h>

/*
 * optimization_main.cpp
 *
 *  Created on: 16.09.2015
 *      Author: Florian Aumann
 */
std::vector<Transformation_Data> readTransformationFile(string fileName)
{
    std::vector<Transformation_Data> data;
    ROS_INFO_STREAM("Reading file " << fileName << "...");
    std::ifstream infile(fileName);
    if (infile.good())
    {
        TransformationFile_Manager_XML fileManager(fileName);
        try
        {
            data = fileManager.readFromFile();
        }
        catch (...)
        {
            ROS_ERROR("Could not read file.");
        }
    }
    else
    {
        ROS_ERROR("File does not exist.");
    }
    return data;
}


int main(int argc, char *argv[])
{
    char *arg[0];
    int x = 0;
    ROS_INFO("Init ROS");
    ros::init(x, arg, "optimizer");
    if (argc > 0)
    {
        **++argv;
        std::string fileName = *argv;
        std::vector<Transformation_Data> transformationData = readTransformationFile(fileName);
        ROS_INFO_STREAM("Got " << transformationData.size() << " datasets.");
    }
    else
    {
        ROS_ERROR("No data file specified.");
    }
    return 0;
}