sm-cli-trim.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 printCommandsTrim(bool showErrorMsg);
 
int commandTrim()
{
    const auto& lstCmds = cli->argCmd.getValue();
    if (cli->argHelp.isSet()) return printCommandsTrim(false);
    if (lstCmds.size() != 2 || !cli->arg_min_corner.isSet() || !cli->arg_max_corner.isSet() ||
        !cli->arg_output.isSet())
        return printCommandsTrim(true);
 
    // Take second unlabeled argument:
    const std::string file = lstCmds.at(1);
 
    const auto cornerMin = mrpt::math::TPoint3D::FromString(cli->arg_min_corner.getValue());
    const auto cornerMax = mrpt::math::TPoint3D::FromString(cli->arg_max_corner.getValue());
 
    const auto bbox = mrpt::math::TBoundingBox(cornerMin, cornerMax);
 
    const mrpt::maps::CSimpleMap sm = read_input_sm_from_cli(file);
 
    mrpt::maps::CSimpleMap outSM;
 
    for (const auto& [posePDF, sf, twist] : sm)
    {
        ASSERT_(posePDF);
        const auto p = posePDF->getMeanVal();
 
        if (!bbox.containsPoint(p.translation())) continue;
 
        outSM.insert(posePDF, sf, twist);
    }
 
    const auto outFil = cli->arg_output.getValue();
 
    std::cout << "Writing trimmed simplemap with " << outSM.size() << " keyframes to '" << outFil
              << "'" << std::endl;
 
    outSM.saveToFile(outFil);
 
    return 0;
}
 
int printCommandsTrim(bool showErrorMsg)
{
    if (showErrorMsg)
    {
        setConsoleErrorColor();
        std::cerr << "Error: missing or unknown subcommand.\n";
        setConsoleNormalColor();
    }
 
    fprintf(
        stderr,
        R"XXX(Usage:
 
    sm-cli trim <filename> --min-corner "[xmin ymin zmin]" --max-corner "[xmax ymax zmax]" --output <OUTPUT.simplemap>
 
)XXX");
 
    return showErrorMsg ? 1 : 0;
}