int main(int argc, char *argv[])
{
ArgParse::ArgParse ap;
bool printVersion = false;
bool printHelp = false;
int maxPointCount = 200000000;
std::string serverName;
double yaw = -DBL_MAX, pitch = -DBL_MAX, roll = -DBL_MAX;
double viewRadius = -DBL_MAX;
std::string shaderName;
bool useServer = true;
bool clearFiles = false;
bool addFiles = false;
bool rmTemp = false;
bool quitRemote = false;
bool queryCursor = false;
ap.options(
"displaz - A lidar point cloud viewer\n"
"Usage: displaz [opts] [file1.las ...]",
"%*", storeFileName, "",
"<SEPARATOR>", "\nInitial settings / remote commands:",
"-maxpoints %d", &maxPointCount, "Maximum number of points to load at a time",
"-noserver %!", &useServer, "Don't attempt to open files in existing window",
"-server %s", &serverName, "Name of displaz instance to message on startup",
"-shader %s", &shaderName, "Name of shader file to load on startup",
"-viewangles %F %F %F", &yaw, &pitch, &roll, "Set view angles in degrees [yaw, pitch, roll]",
"-viewradius %F", &viewRadius, "Set distance to view point",
"-clear", &clearFiles, "Remote: clear all currently loaded files",
"-quit", &quitRemote, "Remote: close the existing displaz window",
"-add", &addFiles, "Remote: add files to currently open set",
"-rmtemp", &rmTemp, "*Delete* files after loading - use with caution to clean up single-use temporary files after loading",
"-querycursor", &queryCursor, "Query 3D cursor location from displaz instance",
"<SEPARATOR>", "\nAdditional information:",
"-version", &printVersion, "Print version number",
"-help", &printHelp, "Print command line usage help",
NULL
);
attachToParentConsole();
if(ap.parse(argc, const_cast<const char**>(argv)) < 0)
{
ap.usage();
std::cerr << "ERROR: " << ap.geterror() << std::endl;
return EXIT_FAILURE;
}
if (printVersion)
{
std::cout << "version " DISPLAZ_VERSION_STRING "\n";
return EXIT_SUCCESS;
}
if (printHelp)
{
ap.usage();
return EXIT_SUCCESS;
}
QString socketName = displazSocketName(QString::fromStdString(serverName));
if (useServer)
{
// Alas, using sockets requires QCoreApplication/QApplication to be
// instantiated. However, on linux each QApplication appears to consume
// GUI resources, regardless of whether it exits before we actually create
// any widgets. This means we may run out of resources if too many displaz
// instances are launched by a script.
int dummyArgc = 0;
char** dummyArgv = 0;
QCoreApplication coreApp(dummyArgc, dummyArgv);
// TODO: Factor out this socket comms code - sending and recieving of
// messages should happen in a centralised place.
QDir currentDir = QDir::current();
// Attempt to locate a running displaz instance
std::unique_ptr<IpcChannel> channel = IpcChannel::connectToServer(socketName);
if (channel)
{
QByteArray command;
if (!g_initialFileNames.empty())
{
command = addFiles ? "ADD_FILES" : "OPEN_FILES";
if (rmTemp)
command += "\nRMTEMP";
for (int i = 0; i < g_initialFileNames.size(); ++i)
{
command += "\n";
command += currentDir.absoluteFilePath(g_initialFileNames[i]).toUtf8();
}
}
else if (clearFiles)
{
command = "CLEAR_FILES";
}
else if (yaw != -DBL_MAX)
{
command = "SET_VIEW_ANGLES\n" +
QByteArray().setNum(yaw) + "\n" +
QByteArray().setNum(pitch) + "\n" +
QByteArray().setNum(roll);
}
else if (viewRadius != -DBL_MAX)
{
command = "SET_VIEW_RADIUS\n" +
QByteArray().setNum(viewRadius);
}
else if (quitRemote)
{
command = "QUIT";
}
else if (queryCursor)
{
command = "QUERY_CURSOR";
}
else
{
std::cerr << "WARNING: Existing window found, but no remote "
"command specified - exiting\n";
return EXIT_FAILURE;
}
channel->sendMessage(command);
if (queryCursor)
{
QByteArray msg = channel->receiveMessage();
std::cout.write(msg.data(), msg.length());
std::cout << "\n";
}
channel->disconnectFromServer();
return EXIT_SUCCESS;
}
else
{
// Some remote commands fail when no instance is found
if (queryCursor)
{
std::cerr << "ERROR: No remote displaz instance found\n";
return EXIT_FAILURE;
}
// Some remote commands succeed when no instance is found
if (quitRemote || clearFiles)
{
return EXIT_SUCCESS;
}
}
}
else if (quitRemote)
{
// If no remote found, assume -quit was successful
std::cerr << "ERROR: -quit cannot be combined with -noserver\n";
return EXIT_FAILURE;
}
QApplication app(argc, argv);
setupQFileSearchPaths();
Q_INIT_RESOURCE(resource);
qRegisterMetaType<std::shared_ptr<Geometry>>("std::shared_ptr<Geometry>");
// Multisampled antialiasing - this makes rendered point clouds look much
// nicer, but also makes the render much slower, especially on lower
// powered graphics cards.
//QGLFormat f = QGLFormat::defaultFormat();
//f.setSampleBuffers(true);
//QGLFormat::setDefaultFormat(f);
PointViewerMainWindow window;
window.setMaxPointCount(maxPointCount);
if (useServer)
window.startIpcServer(socketName);
if (!shaderName.empty())
window.openShaderFile(QString::fromStdString(shaderName));
window.show();
for (int i = 0; i < g_initialFileNames.size(); ++i)
window.fileLoader().loadFile(g_initialFileNames[i], rmTemp);
return app.exec();
}
/// dvox: A batch voxelizer for unstructured point clouds
int main(int argc, char* argv[])
{
Imath::V3d boundMin = Imath::V3d(0);
double rootNodeWidth = 1000;
float pointRadius = 0.2f;
int brickRes = 8;
double leafNodeWidth = 2.5;
double dbTileSize = 100;
double dbCacheSize = 100;
bool logProgress = false;
int logLevel = Logger::Info;
ArgParse::ArgParse ap;
ap.options(
"dvox - voxelize unstructured point clouds (version " DISPLAZ_VERSION_STRING ")\n"
"\n"
"Usage: dvox input1 [input2 ...] output\n"
"\n"
"input can be .las or .pointdb\n"
"output can be .pointdb or .hcloud",
"%*", storePositionalArg, "",
"<SEPARATOR>", "\nVoxelization Options:",
"-bound %F %F %F %F", &boundMin.x, &boundMin.y, &boundMin.z, &rootNodeWidth,
"Bounding box for hcloud (min_x min_y min_z width)",
"-pointradius %f", &pointRadius, "Assumed radius of points used during voxelization",
"-brickresolution %d", &brickRes, "Resolution of octree bricks",
"-leafnoderadius %F", &leafNodeWidth, "Desired width for octree leaf nodes",
"<SEPARATOR>", "\nPoint Database options:",
"-dbtilesize %F", &dbTileSize, "Tile size of temporary point database",
"-dbcachesize %F", &dbCacheSize, "In-memory cache size for database in MB (default 100 MB)",
"<SEPARATOR>", "\nInformational options:",
"-loglevel %d", &logLevel, "Logger verbosity (default 3 = info, greater is more verbose)",
"-progress", &logProgress, "Log processing progress",
NULL
);
StreamLogger logger(std::cerr);
if (ap.parse(argc, const_cast<const char**>(argv)) < 0)
{
ap.usage();
logger.error("%s", ap.geterror());
return EXIT_FAILURE;
}
if (argc == 1)
{
ap.usage();
return EXIT_FAILURE;
}
logger.setLogLevel(Logger::LogLevel(logLevel));
logger.setLogProgress(logProgress);
try
{
if (g_positionalArgs.size() < 2)
{
logger.error("Expected at least two positional arguments");
ap.usage();
return EXIT_FAILURE;
}
std::string outputPath = g_positionalArgs.back();
std::vector<std::string> inputPaths(g_positionalArgs.begin(),
g_positionalArgs.end()-1);
if (endswith(outputPath.toLower(), ".pointdb"))
{
convertLasToPointDb(outputPath, inputPaths,
Imath::Box3d(), dbTileSize, logger);
}
else
{
if (!endswith(g_positionalArgs[0].toLower(), ".pointdb") ||
inputPaths.size() != 1)
{
logger.error("Need exactly one input .pointdb file");
return EXIT_FAILURE;
}
if (!endswith(outputPath.toLower(), ".hcloud"))
{
logger.error("Expected .hcloud file as output path");
return EXIT_FAILURE;
}
SimplePointDb pointDb(inputPaths[0],
(size_t)(dbCacheSize*1024*1024),
logger);
int leafDepth = (int)floor(log(rootNodeWidth/leafNodeWidth)/log(2) + 0.5);
logger.info("Leaf node width = %.3f", rootNodeWidth / (1 << leafDepth));
std::ofstream outputFile(outputPath);
voxelizePointCloud(outputFile, pointDb, pointRadius,
boundMin, rootNodeWidth,
leafDepth, brickRes, logger);
}
}
catch (std::exception& e)
{
logger.error("Caught exception: %s", e.what());
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}