ChunkingPipeline.hpp

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#ifndef CHUNKING_PIPELINE_HPP
#define CHUNKING_PIPELINE_HPP
 
#include "lvr2/algorithm/ChunkManager.hpp"
 
#include <boost/filesystem.hpp>
 
#include "lvr2/reconstruction/LargeScaleReconstruction.hpp"
#include "lvr2/registration/SLAMOptions.hpp"
#include "lvr2/types/ScanTypes.hpp"
 
namespace lvr2
{
 
template <typename BaseVecT>
class ChunkingPipeline
{
public:
    ChunkingPipeline(const boost::filesystem::path& hdf5Path, const boost::filesystem::path& configPath, std::shared_ptr<ChunkManager> chunkManager = nullptr);
 
    bool start(const boost::filesystem::path& scanDir);
 
private:
    // path to the HDF5 file
    boost::filesystem::path m_hdf5Path;
 
    // path to config file
    boost::filesystem::path m_configPath;
 
    // chunk manger instance
    std::shared_ptr<ChunkManager> m_chunkManager;
 
    // scan project containing all scans
    ScanProjectEditMarkPtr m_scanProject;
 
    // registration options
    SLAMOptions m_regOptions;
 
    // large scale reconstruct options
    LSROptions m_lsrOptions;
 
    // practicability analysis config values
    double m_roughnessRadius = 0.3;
    double m_heightDifferencesRadius = 0.3;
    std::vector<float> m_practicabilityLayers;
 
    // status flag
    bool m_running = false;
 
    void parseYAMLConfig();
 
    bool getScanProject(const boost::filesystem::path& dirPath);
 
    void practicabilityAnalysis(HalfEdgeMesh<BaseVecT>& hem, MeshBufferPtr meshBuffer);
};
 
} /* namespace lvr2 */
 
#include "ChunkingPipeline.tcc"
#endif // CHUNKING_PIPELINE_HPP