main.cpp

//Last update: 10/10/2014

#include <iostream>
#include <vector>

#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>

#include "e57.h"

using namespace std;
using namespace e57;

int loadData(int argc, char **argv, vector<string> &files)
{
	std::string extension (".e57");
	// Suppose the first argument is the actual test model
    for (int i = 1; i < argc; ++i)
	{
		std::string fname = std::string (argv[i]);
		cout << fname <<endl;
		files.push_back(fname);	 
		return 1;
	}
    return 0;
}

int main (int argc, char** argv){
	
    vector<string> filenames;
    E57 e57;
    loadData(argc, argv, filenames);
	// Check user input
	if (filenames.empty ())
	{
		cout << "Error checking files"<<endl;
		return (-1);
	}
 
    PtrXYZ cloud(new pcl::PointCloud<P_XYZ>);
    PtrXYZ cloud_transformed(new pcl::PointCloud<P_XYZ>);
	
    float scale_factor = 0;
    for(size_t i = 0; i < filenames.size(); ++i)
    {
		// Will be overwritten:
		int64_t scanCount = 1;

		for (int64_t scanIndex = 0; scanIndex < scanCount; ++ scanIndex) {
			Eigen::Matrix4f matrix;
			if(e57.openE57(filenames.at(i), cloud, scale_factor, scanCount, matrix, scanIndex) == -1){
				cout << "Error reading file" << endl;
				return -1;
			}

			pcl::transformPointCloud (*cloud, *cloud_transformed, matrix);
		
			std::stringstream ss;
			ss << "Scan-" << i << "-" << scanIndex << ".pcd";
			cout << ss.str() << endl;
			int n = 0;
			
			pcl::io::savePCDFileASCII (ss.str(), *cloud_transformed);

			//demonstration of writing down from PCD to E57
			if(e57.saveE57File("test.e57", cloud, scale_factor) == -1){
				cout << "Error saving in e57"<<endl;
				return -1;
			}

			cout << "********************* CONVERSION COMPLETED *********************"<<endl;
			cout << "File: \t" << filenames.at(i) << endl;
			cout << "Cloud Size: \t" << cloud.get()->size() << endl;
			cout << "File Saved: \t"<< ss.str() <<endl;
			cout << "********************* CONVERSION COMPLETED *********************"<<endl;
		}
	}
	
    cout << "Conversion completed" << endl;
	return 0;
}