sm-cli-join.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mrpt/core/exceptions.h>
#include <mrpt/maps/CSimpleMap.h>
 
#include "sm-cli.h"
 
static int printCommandsJoin(bool showErrorMsg);
 
int commandJoin()
{
    const auto& lstCmds = cli->argCmd.getValue();
    if (cli->argHelp.isSet()) return printCommandsJoin(false);
    if (lstCmds.size() < 2 || !cli->arg_output.isSet()) return printCommandsJoin(true);
 
    // Take second unlabeled argument:
    mrpt::maps::CSimpleMap outSM;
 
    for (size_t i = 1; i < lstCmds.size(); i++)
    {
        const std::string      file = lstCmds.at(i);
        mrpt::maps::CSimpleMap sm   = read_input_sm_from_cli(file);
 
        for (size_t k = 0; k < sm.size(); k++)
        {
            const auto kf = sm.get(k);
            outSM.insert(kf);
        }
    }
 
    const auto outFil = cli->arg_output.getValue();
 
    std::cout << "Writing merged simplemap with " << outSM.size() << " keyframes to '" << outFil
              << "'" << std::endl;
 
    outSM.saveToFile(outFil);
 
    return 0;
}
 
int printCommandsJoin(bool showErrorMsg)
{
    if (showErrorMsg)
    {
        setConsoleErrorColor();
        std::cerr << "Error: missing or unknown subcommand.\n";
        setConsoleNormalColor();
    }
 
    fprintf(
        stderr,
        R"XXX(Usage:
 
    sm-cli join <filename_1> [<filename_2> ...] --output <MERGED.simplemap>
 
)XXX");
 
    return showErrorMsg ? 1 : 0;
}