src/tools/lvr2_kaboom/Main.cpp

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#include "Options.hpp"
 
#include "lvr2/io/ModelFactory.hpp"
#include "lvr2/io/ScanDirectoryParser.hpp"
#include "lvr2/io/IOUtils.hpp"
#include "lvr2/registration/OctreeReduction.hpp"
 
using namespace lvr2;
 
const kaboom::Options* options;
 
int main(int argc, char** argv) {
 
    // Parse command line arguments
    kaboom::Options options(argc, argv);
 
    if (options.getTargetSize() && options.getVoxelSize())
    {
        std::cout << timestamp << "Warning: Octree reduction and random reduction requested." << std::endl;
        std::cout << timestamp << "Please chose set either octree voxel size with -v or target " << std::endl;
        std::cout << timestamp << "size with random reduction using --targetSize." << std::endl;
        return 0;
    }
 
    if(options.getInputFile() != "")
    {
        std::cout << timestamp << "Reading '" << options.getInputFile() << "." << std::endl;
        ModelPtr model = ModelFactory::readModel(options.getInputFile());
        if(model)
        {
            PointBufferPtr result = model->m_pointCloud;
            PointBufferPtr buffer = model->m_pointCloud;
            
            // Reduce if requested using the specified technique
            if(options.getTargetSize())
            {
                std::cout << timestamp << "Random sampling " << options.getTargetSize() << " points." << std::endl;
                result = subSamplePointBuffer(buffer, options.getTargetSize());
            }
            else if(options.getVoxelSize())
            {
                std::cout << timestamp << "Octree reduction with voxel size " << options.getVoxelSize() << std::endl;
                OctreeReduction oct(buffer, options.getVoxelSize(), 5);
                result = oct.getReducedPoints();
            }
 
            // Convert coordinates of result buffer is nessessary
            if(options.convertToLVR())
            {
                std::cout << timestamp << "Converting from SLAM6D to LVR coordinates" << std::endl;
                slamToLVRInPlace(result);
            }
 
            string targetFileName;
            if(options.getOutputFile() == "")
            {
                targetFileName = "result.ply";
            }
            else
            {
                targetFileName = options.getOutputFile();
            }
 
            std::cout << timestamp << "Saving '" << targetFileName << "'" << std::endl;
            ModelFactory::saveModel(ModelPtr(new Model(result)), targetFileName);
        }
        else
        {
            std::cout << timestamp << "Error: Could not load '"  
                      << options.getInputFile() << "'." << std::endl;
        }
        
    }
    else
    {
        ScanDirectoryParser parser(options.getInputDir());
        parser.setStart(options.getStart());
        parser.setEnd(options.getEnd());
        parser.setPointCloudPrefix(options.getScanPrefix());
        parser.setPosePrefix(options.getPosePrefix());
        parser.setPointCloudExtension(options.getScanExtension());
        parser.setPoseExtension(options.getPoseExtension());
        parser.parseDirectory(); 
 
        if(options.getTargetSize())
        {
            PointBufferPtr result = parser.randomSubSample(options.getTargetSize());
        }
        else
        {
            PointBufferPtr result = parser.octreeSubSample(options.getVoxelSize(), options.getMinPointsPerVoxel());
        }
 
    }
    
  
    return 0;
}