bool Scanmatcher::calculateNdt(pose_t &pose, points2_t & points) {
if (!initialized_)
return false;
pose_t transform = calcTransformation(pose_,pose);
for (auto &l : layer_) {
if (l.calculateNdt(transform,points)) {
transform = std::move(l.getTransformation());
}
}
transform_ = std::move(transform);
initializeNdt(pose,points);
return true;
}
void Inference::go()
{
if (m_pool || m_valid)
{
throw std::runtime_error("Cannot call Inference::go twice");
}
m_pool = makeUnique<Pool>(m_threads);
const std::size_t size(m_fileInfo.size());
for (std::size_t i(0); i < size; ++i)
{
FileInfo& f(m_fileInfo[i]);
m_index = i;
if (m_verbose)
{
std::cout << i + 1 << " / " << size << ": " << f.path() <<
std::endl;
}
if (m_executor.good(f.path()))
{
m_valid = true;
if (m_arbiter->isHttpDerived(f.path()))
{
m_pool->add([this, &f]()
{
const auto data(m_arbiter->getBinary(f.path(), range));
std::string name(f.path());
std::replace(name.begin(), name.end(), '/', '-');
std::replace(name.begin(), name.end(), '\\', '-');
m_tmp.put(name, data);
add(m_tmp.fullPath(name), f);
arbiter::fs::remove(m_tmp.fullPath(name));
});
}
else
{
m_pool->add([&f, this]()
{
auto localHandle(
m_arbiter->getLocalHandle(f.path(), m_tmp));
add(localHandle->localPath(), f);
});
}
}
else
{
f.status(FileInfo::Status::Omitted);
}
}
m_pool->join();
if (!m_valid)
{
throw std::runtime_error("No point cloud files found");
}
aggregate();
makeSchema();
if (!numPoints())
{
throw std::runtime_error("Zero points found");
}
else if (!schema().pointSize())
{
throw std::runtime_error("No schema dimensions found");
}
else if (bounds() == Bounds::expander())
{
throw std::runtime_error("No bounds found");
}
if (m_cesiumify)
{
std::cout << "Transforming inference" << std::endl;
m_transformation = makeUnique<Transformation>(calcTransformation());
m_bounds = makeUnique<Bounds>(Bounds::expander());
for (auto& f : m_fileInfo)
{
if (!f.bounds()) throw std::runtime_error("No bounds present");
f.bounds(m_executor.transform(*f.bounds(), *m_transformation));
m_bounds->grow(*f.bounds());
}
}
m_done = true;
}
void AObject::draw(gdl::BasicShader& shader, gdl::Clock &clock)
{
(void)clock;
_texture->bind();
_geometry.draw(shader, calcTransformation(), GL_QUADS);
}
