46 (
"help",
"Produce help message")
47 (
"inputDir", value<string>()->default_value(
"./"),
"A directory containing several scan files for batch conversion.")
48 (
"inputFile", value<string>()->default_value(
""),
"A single file to convert.")
49 (
"outputFile", value<string>()->default_value(
""),
"The name of a single output file if scans are merged. If the format can be deduced frim the file extension, the specification of --outputFormat is optional.")
50 (
"outputDir", value<string>()->default_value(
"./"),
"The target directory for converted data.")
51 (
"outputFormat", value<string>()->default_value(
""),
"Specify the output format. Possible values are ASCII, PLY, DAT, LAS. If left empty, the format is deduced from the extension of the input files.")
52 (
"filter", value<bool>()->default_value(
false),
"Filter input data.")
53 (
"exportScanPositions", value<bool>()->default_value(
false),
"Exports the original scan positions to 'scanpositions.txt'.")
54 (
"k", value<int>()->default_value(1),
"k neighborhood for filtering.")
55 (
"sigma", value<float>()->default_value(1.0),
"Deviation for outlier filter.")
56 (
"targetSize", value<int>()->default_value(0),
"Target size (reduction) for the input scans.")
57 (
"transformBefore", value<bool>()->default_value(
false),
"Transform the scans before frames/pose-transformation.")
58 (
"rPos,r", value<int>()->default_value(-1),
"Position of the red color component in the input data lines. (-1) means no color information")
59 (
"gPos,g", value<int>()->default_value(-1),
"Position of the green color component in the input data lines. (-1) means no color information")
60 (
"bPos,b", value<int>()->default_value(-1),
"Position of the blue color component in the input data lines. (-1) means no color information")
61 (
"start,s", value<int>()->default_value(0),
"start at scan NR")
62 (
"end,e", value<int>()->default_value(0),
"end at scan NR")
63 (
"voxelSize,v", value<double>()->default_value(0.1),
"Voxel size for octree reduction")
64 (
"minPointsPerVoxel", value<size_t>()->default_value(5),
"Minimum number of points per voxel in octree reduction")
65 (
"scanPrefix", value<std::string>()->default_value(
"scan"),
"Prexfix for scan files. E.g., scan for using scan001, scan002 etc.")
66 (
"posePrefix", value<std::string>()->default_value(
"scan"),
"Prexfix for files with 4x4 pose estimation in row-majow format. E.g., pose for using pose001, pose002 etc.")
67 (
"scanExtension", value<std::string>()->default_value(
".3d"),
"File extension for parsed files containing point cloud data")
68 (
"poseExtension", value<std::string>()->default_value(
".dat"),
"File extension for parsed files containing pose estimates")
69 (
"convertToLVR", value<bool>()->default_value(
false),
"Convert a file in SLAM coordinates to LVR coordinates")
79 ::std::cout<<
m_descr << ::std::endl;
121 return m_variables[
"exportScanPositions"].as<
bool>();
156 return m_variables[
"minPointsPerVoxel"].as<
size_t>();