apps/txt2mm/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/maps/CColouredPointsMap.h>
#include <mrpt/maps/CPointsMapXYZI.h>
#include <mrpt/maps/CPointsMapXYZIRT.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/CMatrixDynamic.h>
#include <mrpt/obs/CObservationPointCloud.h>
#include <mrpt/system/filesystem.h>
 
const char* VALID_FORMATS = "(xyz|xyzi|xyzirt|xyzrgb)";
 
using namespace std::string_literals;
 
// CLI flags:
struct Cli
{
    TCLAP::CmdLine cmd{"txt2mm"};
 
    TCLAP::ValueArg<std::string> argInput{
        "i",
        "input",
        "Path to input TXT or CSV file. One point per row. Columns separated "
        "by "
        "spaces or commas. See docs for supported formats.",
        true,
        "input.txt",
        "input.txt",
        cmd};
 
    TCLAP::ValueArg<std::string> argOutput{
        "o", "output", "Output file to write to.", true, "out.mm", "out.mm", cmd};
 
    TCLAP::ValueArg<std::string> argFormat{
        "f",
        "format",
        "Point cloud format. Mandatory flag.\n"s
        "Options: "s +
            VALID_FORMATS,
        true,
        "xyz",
        VALID_FORMATS,
        cmd};
 
    TCLAP::ValueArg<std::string> argLayer{
        "l", "layer", "Target layer name (Default: \"raw\").", false, "raw", "raw", cmd};
 
    TCLAP::ValueArg<int> argIndexXYZ{
        "",    "column-x", "Column index for the X coordinate in the input data (Default: 0).",
        false, 0,          "column index",
        cmd};
 
    TCLAP::ValueArg<int> argIndexI{
        "",
        "column-i",
        "Column index for the Intensity channel in the input data (Default: "
        "3).",
        false,
        3,
        "column index",
        cmd};
 
    TCLAP::ValueArg<int> argIndexR{
        "",    "column-r", "Column index for the Ring channel in the input data (Default: 4).",
        false, 4,          "column index",
        cmd};
 
    TCLAP::ValueArg<int> argIndexT{
        "",
        "column-t",
        "Column index for the Timestamp channel in the input data (Default: "
        "5).",
        false,
        5,
        "column index",
        cmd};
 
    TCLAP::ValueArg<uint64_t> argID{
        "", "id", "Metric map numeric ID (Default: none).", false, 0, "[ID]", cmd};
 
    TCLAP::ValueArg<std::string> argLabel{
        "", "label", "Metric map label string (Default: none).", false, "label", "[label]", cmd};
};
 
int main(int argc, char** argv)
{
    try
    {
        Cli cli;
 
        // Parse arguments:
        if (!cli.cmd.parse(argc, argv)) return 1;  // should exit.
 
        const auto& f = cli.argInput.getValue();
        ASSERT_FILE_EXISTS_(f);
 
        std::cout << "Reading data from '" << f << "'..." << std::endl;
 
        mrpt::math::CMatrixFloat data;
        data.loadFromTextFile(f);
 
        const size_t nRows = data.size().at(0), nCols = data.size().at(1);
 
        std::cout << "Done: " << nRows << " rows, " << nCols << " columns." << std::endl;
 
        mrpt::maps::CPointsMap::Ptr pc;
        const auto                  format = cli.argFormat.getValue();
 
        const auto idxX = cli.argIndexXYZ.getValue();
        const auto idxI = cli.argIndexI.getValue();
        const auto idxR = cli.argIndexR.getValue();
        const auto idxT = cli.argIndexT.getValue();
 
        if (format == "xyz")
        {
            ASSERT_GE_(nCols, 3U);
            pc = mrpt::maps::CSimplePointsMap::Create();
            pc->reserve(nRows);
            if (nCols > 3)
                std::cout << "Warning: Only the first 3 columns from the file "
                             "will be used for the output format 'xyz'"
                          << std::endl;
 
            for (size_t i = 0; i < nRows; i++)
                pc->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
        }
        else if (format == "xyzi")
        {
            ASSERT_GE_(nCols, 4U);
            auto pts = mrpt::maps::CPointsMapXYZI::Create();
            pts->reserve(nRows);
            if (nCols > 4)
                std::cout << "Warning: Only the first 4 columns from the file "
                             "will be used for the output format 'xyzi'"
                          << std::endl;
 
            for (size_t i = 0; i < nRows; i++)
            {
                pts->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
                pts->insertPointField_Intensity(data(i, idxI));
            }
 
            pc = pts;
        }
        else if (format == "xyzirt")
        {
            ASSERT_GE_(nCols, 6U);
            auto pts = mrpt::maps::CPointsMapXYZI::Create();
            pts->reserve(nRows);
            if (nCols > 6)
                std::cout << "Warning: Only the first 6 columns from the file "
                             "will be used for the output format 'xyzirt'"
                          << std::endl;
 
            for (size_t i = 0; i < nRows; i++)
            {
                pts->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
                pts->insertPointField_Intensity(data(i, idxI));
                pts->insertPointField_Ring(data(i, idxR));
                pts->insertPointField_Timestamp(data(i, idxT));
            }
 
            pc = pts;
        }
        else if (format == "xyzrgb")
        {
            ASSERT_GE_(nCols, 6U);
            auto pts = mrpt::maps::CColouredPointsMap::Create();
            pts->reserve(nRows);
            if (nCols > 6)
                std::cout << "Warning: Only the first 6 columns from the file "
                             "will be used for the output format 'xyzrgb'"
                          << std::endl;
 
            const size_t idxRed = 3, idxGreen = 4, idxBlue = 5;
 
            for (size_t i = 0; i < nRows; i++)
            {
                pts->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
                pts->insertPointField_color_R(mrpt::u8tof(data(i, idxRed)));
                pts->insertPointField_color_G(mrpt::u8tof(data(i, idxGreen)));
                pts->insertPointField_color_B(mrpt::u8tof(data(i, idxBlue)));
            }
 
            pc = pts;
        }
        else
        {
            THROW_EXCEPTION_FMT(
                "Invalid --format set to '%s'. Valid values: %s", format.c_str(), VALID_FORMATS);
        }
 
        // Save as mm file:
        mp2p_icp::metric_map_t mm;
        mm.layers["raw"] = std::move(pc);
 
        if (cli.argID.isSet()) mm.id = cli.argID.getValue();
        if (cli.argLabel.isSet()) mm.label = cli.argLabel.getValue();
 
        std::cout << "Map contents: " << mm.contents_summary() << std::endl;
        std::cout << "Saving map to: " << cli.argOutput.getValue() << std::endl;
 
        if (!mm.save_to_file(cli.argOutput.getValue()))
            THROW_EXCEPTION_FMT(
                "Error writing to target file '%s'", cli.argOutput.getValue().c_str());
    }
    catch (const std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e);
        return 1;
    }
    return 0;
}