Function main

src/dufomap.cpp:338–448

}

int main(int argc, char* argv[])
{
	if (1 >= argc) {
		std::cout << "[ERROR] Please running by: " << argv[0] << " [pcd_folder] [optional: config_file_path]";
		return 0;
	}

	std::filesystem::path path(argv[1]);
	std::string config_file_path;
	if (argc > 2)
		config_file_path = argv[2];
	else
		config_file_path = std::string(argv[1]) + "/dufomap.toml";

	auto config = readConfig(std::filesystem::path(config_file_path));
	std::cout << "[LOG] Step 1: Successfully read configuration from: " << config_file_path <<std::endl;
	ufo::Map<ufo::MapType::SEEN_FREE | ufo::MapType::REFLECTION | ufo::MapType::LABEL> map(
	    config.map.resolution, config.map.levels);
	map.reserve(100'000'000);

	std::vector<std::filesystem::path> pcds;
	for (const auto& entry : std::filesystem::directory_iterator(path / "pcd")) {
		if (!entry.is_regular_file()) {
			continue;
		}
		std::size_t i = std::stoul(entry.path().stem());
		if (config.dataset.first <= i && config.dataset.last >= i) {
			pcds.push_back(entry.path().filename());
		}
	}
	std::ranges::sort(pcds);
	// std::cout << config << std::endl;
	pcds.resize(std::min(pcds.size(), config.dataset.num));

	ufo::Timing timing;
	timing.start("Total");

	ufo::PointCloudColor cloud_acc;

	std::cout << "[LOG] Step 2: Starting Processing data from: " << path << '\n';
	indicators::show_console_cursor(false);
	indicators::BlockProgressBar bar{
		indicators::option::BarWidth{50},
		indicators::option::Start{"["},
		indicators::option::End{"]"},
		indicators::option::PrefixText{"[LOG] Running dufomap "},
		indicators::option::ForegroundColor{indicators::Color::white},
		indicators::option::ShowElapsedTime{true},
		indicators::option::ShowRemainingTime{true},
		indicators::option::FontStyles{std::vector<indicators::FontStyle>{indicators::FontStyle::bold}}
	};
	
	for (std::size_t i{}; std::string filename : pcds) {
		bar.set_progress(100 * i / pcds.size());
		++i;
		timing.setTag("Total " + std::to_string(i) + " of " + std::to_string(pcds.size()) +
		              " (" + std::to_string(100 * i / pcds.size()) + "%)");