recordedObjectsTransformer.cpp

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#include <ISM/tools/RecordedObjectsTransformer.hpp>

#include <string>
#include <vector>
#include <boost/program_options.hpp>
#include <fstream>

/*
 * Command line tool to transform the absolute pose of an entire scene relative to a world coordinate frame.
 * (All absolute poses of recorded objects in a given database are transformed into poses relative to a given object, before the expected pose of this object in world frame is applied on all of them.)
 *
 * Usage:
 * ./recordedObjectsTransformer
 *  -s <path-to-source-database>
 *  -t <path-to-target-database> (does not need to be existence)
 *  -S <reference-object-type>
 *  -I <corresponding-object-id>
 *  -x -y -z <absolut-position-of-reference-object>
 *  -W -X -Y -Z <absolute-orientation-quaternion-of-reference-object>
 *
 * Example:
 * ./recordedObjectsTransformer -s /PATH/SOURCE_DATABASE.sqlite -t /PATH/TARGET_DATABASE.sqlite -S marker_5 -I 052052051100 -x -1.5 -y 0.5 -z 0.7 -W 0.289 -X -0.242 -Y -0.642 -Z 0.667
 *
 */

using namespace ISM;
using namespace std;
namespace po = boost::program_options;


int main (int argc, char** argv) {
    po::options_description desc("Allowed options");
    desc.add_options()
            ("help,h", "produce help message")
            ;

    po::options_description required("Required");
    required.add_options()
            ("source-file,s", po::value<string>(), "source file")
            ("target-file,t", po::value<string>(), "target file")
            ("source-object-type,S", po::value<string>(), "source object type")
            ("source-object-id,I", po::value<string>(), "source object ID")
            ("px,x", po::value<double>(), "Point x")
            ("py,y", po::value<double>(), "Point y")
            ("pz,z", po::value<double>(), "Point z")
            ("qw,W", po::value<double>(), "Quaternion W")
            ("qx,X", po::value<double>(), "Quaternion X")
            ("qy,Y", po::value<double>(), "Quaternion Y")
            ("qz,Z", po::value<double>(), "Quaternion Z")
            ;

    desc.add(required);

    po::variables_map vm;
    po::store(po::parse_command_line(argc, argv, desc), vm);
    po::notify(vm);

    if (vm.count("help") || !vm.count("source-file") || !vm.count("target-file") || !vm.count("source-object-type") || !vm.count("source-object-id")
            || !vm.count("px") || !vm.count("py") || !vm.count("pz") || !vm.count("qw") || !vm.count("qx") || !vm.count("qy") || !vm.count("qz")) {
        cout << desc << "\n";
        return 1;
    }

    string sourceFile = vm["source-file"].as<string>();
    string targetFile = vm["target-file"].as<string>();
    string type = vm["source-object-type"].as<string>();
    string id = vm["source-object-id"].as<string>();
    double px = vm["px"].as<double>();
    double py = vm["py"].as<double>();
    double pz = vm["pz"].as<double>();
    double qw = vm["qw"].as<double>();
    double qx = vm["qx"].as<double>();
    double qy = vm["qy"].as<double>();
    double qz = vm["qz"].as<double>();

    //actual transform process
    RecordedObjectsTransformer objects_transformer;
    objects_transformer.transformRecordedObjects(sourceFile, targetFile, type, id, px, py, pz, qw, qx, qy, qz);
}