apps/mm2txt/main.cpp

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
 
#include <mp2p_icp/metricmap.h>
#include <mrpt/3rdparty/tclap/CmdLine.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/maps/CPointsMapXYZI.h>
#include <mrpt/maps/CPointsMapXYZIRT.h>
#include <mrpt/system/filesystem.h>
 
// CLI flags:
static TCLAP::CmdLine cmd("mm2txt");
 
static TCLAP::UnlabeledValueArg<std::string> argMapFile(
    "input", "Load this metric map file (*.mm)", true, "myMap.mm", "myMap.mm", cmd);
 
static TCLAP::MultiArg<std::string> argLayers(
    "l", "layer",
    "Layer to export. If not provided, all will be exported. This argument can "
    "appear several times.",
    false, "layerName", cmd);
 
void run_mm2txt()
{
    using namespace std::string_literals;
 
    const auto& filInput = argMapFile.getValue();
 
    ASSERT_FILE_EXISTS_(argMapFile.getValue());
 
    std::cout << "[mm-info] Reading input map from: '" << filInput << "'..." << std::endl;
 
    mp2p_icp::metric_map_t mm;
    mm.load_from_file(filInput);
 
    std::cout << "[mm-info] Done read map. Contents:\n" << mm.contents_summary() << std::endl;
 
    std::vector<std::string> layers;
    if (argLayers.isSet())
    {
        // only selected:
        for (const auto& s : argLayers.getValue()) layers.push_back(s);
    }
    else
    {  // all:
        for (const auto& [name, map] : mm.layers) layers.push_back(name);
    }
 
    const auto baseFilName = mrpt::system::extractFileName(filInput);
 
    // Export them:
    for (const auto& name : layers)
    {
        const std::string filName = baseFilName + "_"s + name + ".txt"s;
 
        std::cout << "Exporting layer: '" << name << "' to file '" << filName << "'..."
                  << std::endl;
 
        ASSERTMSG_(mm.layers.count(name) == 1, "Layer not found in metric map!");
 
        auto* pts = mp2p_icp::MapToPointsMap(*mm.layers.at(name));
        if (!pts)
        {
            THROW_EXCEPTION_FMT(
                "Layer '%s' is of type '%s' which cannot be converted into a "
                "point cloud for exporting in TXT format.",
                name.c_str(), mm.layers.at(name)->GetRuntimeClass()->className);
        }
 
        if (auto* xyzirt = dynamic_cast<const mrpt::maps::CPointsMapXYZIRT*>(pts); xyzirt)
        {
            xyzirt->saveXYZIRT_to_text_file(filName);
        }
        else if (auto* xyzi = dynamic_cast<const mrpt::maps::CPointsMapXYZI*>(pts); xyzi)
        {
            xyzi->saveXYZI_to_text_file(filName);
        }
        else
        {
            pts->save3D_to_text_file(filName);
        }
    }
}
 
int main(int argc, char** argv)
{
    try
    {
        // Parse arguments:
        if (!cmd.parse(argc, argv)) return 1;  // should exit.
 
        run_mm2txt();
    }
    catch (const std::exception& e)
    {
        std::cerr << e.what();
        return 1;
    }
    return 0;
}