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