272 lines
8.5 KiB
Text
272 lines
8.5 KiB
Text
/**
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* @file model.cc
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*
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* @auhtor Remus Claudiu Dumitru <r.dumitru@jacobs-university.de>
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* @date 12 Feb 2012
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*
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*/
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//==============================================================================
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// Defines
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//==============================================================================
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//==============================================================================
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// Includes
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//==============================================================================
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#include "model/scene.h"
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#include "model/util.h"
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#include "model/graphicsAlg.h"
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#include "slam6d/io_utils.h"
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#include "slam6d/io_types.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <ctype.h>
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#ifdef _MSC_VER
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#define strcasecmp _stricmp
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#define strncasecmp _strnicmp
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#else
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#include <strings.h>
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#endif
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#ifndef _MSC_VER
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#include <getopt.h>
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#else
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#include "XGetopt.h"
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#endif
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#include <string>
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#include <iostream>
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using namespace std;
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//==============================================================================
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// Global Variables
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//==============================================================================
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model::Scene* scene = NULL; // the scene containing all data
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bool quiet = false; // no output will be shown
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//==============================================================================
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// Functions
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//==============================================================================
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/**
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* Prints the usage of the program to stdout.
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* @param programName the name of the current program
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*/
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void printUsage(const string& programName) {
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#ifndef _MSC_VER
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const string bold("\033[1m");
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const string normal("\033[m");
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#else
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const string bold("");
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const string normal("");
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#endif
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cout << endl
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<< bold << "USAGE " << normal << endl
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<< "\t" << programName << " [options] directory" << endl << endl;
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cout << bold << "OPTIONS" << normal << endl
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<< bold << "\t -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl
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<< "\t\t using shared library F for input" << endl
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<< "\t\t (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rxp, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl
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<< endl
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// TODO enable the usage of all algos, use rht for now
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<< bold << "\t -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl
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<< "\t\t using algorithm P for plane detection" << endl
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<< "\t\t (chose P from {rht, sht, pht, ppht, apht, ran})" << endl
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<< endl
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<< bold << "\t -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl
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<< "\t\t start at scan NR (i.e., neglects the first NR scans)" << endl
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<< "\t\t [ATTENTION: counting naturally starts with 0]" << endl
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<< endl
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<< bold << "\t -S, --scanserver" << normal << endl
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<< "\t\t Use the scanserver as an input method and handling of scan data" << endl
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<< endl
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<< bold << "\t -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl
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<< "\t\t end at scan NR (i.e., neglects the scans following NR)" << endl
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<< endl;
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exit(EXIT_SUCCESS);
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}
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/**
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* Parses program arguments.
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*/
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void parseArgs(int argc, char* argv[],
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string& dir, int& start, int& end, IOType &type, PlaneAlgorithm& alg,
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bool& scanserver)
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{
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char c;
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int index;
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// from unistd.h:
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extern char *optarg;
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extern int optind;
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WriteOnce<IOType> w_type(type);
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WriteOnce<int> w_start(start), w_end(end);
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// define the known flags in an option structure
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static struct option long_options[] = {
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{"start", required_argument, 0, 's'},
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{"end", required_argument, 0, 'e'},
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{"format", required_argument, 0, 'f'},
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{"plane", required_argument, 0, 'p'},
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{"help", no_argument, 0, 'h'},
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{"scanserver", no_argument, 0, 'S'},
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{"quiet", no_argument, 0, 'q'}
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};
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// loop over the arguments
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while ((c = getopt_long(argc, argv, "s:e:f:p:hq", long_options, &index)) != -1) {
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switch (c) {
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case 's':
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w_start = atoi(optarg);
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if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
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break;
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case 'e':
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w_end = atoi(optarg);
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if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
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if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
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break;
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case 'f':
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try {
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w_type = formatname_to_io_type(optarg);
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} catch (...) { // runtime_error
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cerr << "Format " << optarg << " unknown." << endl;
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abort();
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}
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break;
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case 'p':
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if (strcasecmp(optarg, "rht") == 0) alg = RHT;
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else if (strcasecmp(optarg, "sht") == 0) alg = SHT;
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else if (strcasecmp(optarg, "pht") == 0) alg = PHT;
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else if (strcasecmp(optarg, "ppht") == 0) alg = PPHT;
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else if (strcasecmp(optarg, "apht") == 0) alg = APHT;
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else if (strcasecmp(optarg, "ran") == 0) alg = RANSAC;
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else printUsage(argv[0]);
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break;
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case 'q':
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quiet = true;
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break;
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case 'S':
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scanserver = true;
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break;
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case 'h':
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case '?':
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printUsage(argv[0]);
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break;
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default:
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throw runtime_error("getopt_long detected invalid flag");
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break;
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}
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}
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if (optind != argc-1) {
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cerr << "\n*** Directory missing ***" << endl;
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printUsage(argv[0]);
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}
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dir = argv[optind];
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#ifndef _MSC_VER
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if (dir[dir.length()-1] != '/') dir = dir + "/";
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#else
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if (dir[dir.length()-1] != '\\') dir = dir + "\\";
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#endif
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parseFormatFile(dir, w_type, w_start, w_end);
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}
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/**
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* Cleanup function that deallocates memory and cleans up other stuff...
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*/
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void cleanup() {
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if (!quiet) cout << endl << "== Cleaning up..." << endl;
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if (scene != NULL) {
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delete scene;
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}
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if (!quiet) cout << endl << "== Exiting..." << endl;
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}
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//==============================================================================
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// Main
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//==============================================================================
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int main(int argc, char* argv[]) {
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// seed the RNG
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srand(time(NULL));
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// default values for possible parse parameters
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IOType type = UOS;
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bool scanserver = false;
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// beginning and ending scan number
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int start = 0;
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int end = 0;
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// path to directory containing the scans
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string dir;
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// minimum and maximum scan distances
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int maxDist = -1;
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int minDist = -1;
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int octree = 1;
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double red = -1.0;
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// which plane algorithm to perform
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PlaneAlgorithm alg = RHT;
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// parse the command line arguments before registering and signals and atexit callbacks
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parseArgs(argc, argv,
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dir, start, end, type, alg,
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scanserver);
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// register cleanup function to deallocate memory at exit
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atexit(cleanup);
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if (!model::fileExists(dir)) {
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throw runtime_error("directory " + dir + " does not exist");
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}
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// Prepare to create the scene.
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model::Point3d pt(+78.4556, +43.0196, -181.107);
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// model::Point3d pt(0.0, 0.0, 0.0);
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model::Rotation3d rot(0.0, 0.0, 0.0);
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model::Pose6d pose(pt, rot);
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vector<model::Pose6d> poses;
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poses.push_back(pose);
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// Allocate memory for scene object.
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scene = new model::Scene(type, start, end, dir, scanserver,
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maxDist, minDist, alg, octree, red, poses);
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scene->detectWalls();
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scene->applyLabels(scene->walls[0]);
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scene->applyLabels(scene->walls[1]);
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scene->applyLabels(scene->walls[2]);
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scene->applyLabels(scene->walls[3]);
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scene->applyLabels(scene->ceiling);
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scene->applyLabels(scene->floor);
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vector<model::CandidateOpening> openings;
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scene->addFinalOpenings(scene->walls[0], openings);
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scene->correct(scene->walls[0], openings);
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scene->addFinalOpenings(scene->walls[1], openings);
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scene->correct(scene->walls[1], openings);
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scene->addFinalOpenings(scene->walls[2], openings);
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scene->correct(scene->walls[2], openings);
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scene->addFinalOpenings(scene->walls[3], openings);
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scene->correct(scene->walls[3], openings);
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scene->addFinalOpenings(scene->ceiling, openings);
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scene->correct(scene->ceiling, openings);
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scene->addFinalOpenings(scene->floor, openings);
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scene->correct(scene->floor, openings);
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scene->writeCorrectedWalls(dir);
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scene->writeModel(dir);
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return 0;
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}
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