src/tools/lvr2_image_normals/Main.cpp

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// Program options for this tool
 
 
#include "lvr2/io/ModelFactory.hpp"
#include "lvr2/reconstruction/ModelToImage.hpp"
#include "lvr2/reconstruction/PanoramaNormals.hpp"
#include "Options.hpp"
using namespace lvr2;
 
 
int main(int argc, char** argv)
{
    image_normals::Options opt(argc, argv);
    cout << opt << endl;
 
    ModelPtr model = ModelFactory::readModel(opt.inputFile());
 
    // Determine coordinate system
    ModelToImage::CoordinateSystem system = ModelToImage::NATIVE;
 
    if(opt.coordinateSystem() == "SLAM6D")
    {
        system = ModelToImage::SLAM6D;
    }
    else if(opt.coordinateSystem() == "UOS")
    {
        system = ModelToImage::UOS;
    }
 
    ModelToImage mti(
                model->m_pointCloud,
                ModelToImage::CYLINDRICAL,
                opt.imageWidth(), opt.imageHeight(),
                opt.minZ(), opt.maxZ(),
                opt.minH(), opt.maxH(),
                opt.minV(), opt.maxV(),
                opt.optimize(), system);
 
    mti.writePGM(opt.imageFile(), 3000);
 
    PanoramaNormals normals(&mti);
    PointBufferPtr buffer = normals.computeNormals(opt.regionWidth(), opt.regionHeight(), false);
 
    ModelPtr out_model(new Model(buffer));
 
    ModelFactory::saveModel(out_model, "normals.ply");
}