int GroundKernel::execute()
{
PointTable table;
Options readerOptions;
readerOptions.add<std::string>("filename", m_inputFile);
setCommonOptions(readerOptions);
Stage& readerStage(Kernel::makeReader(m_inputFile));
readerStage.setOptions(readerOptions);
Options groundOptions;
groundOptions.add<double>("maxWindowSize", m_maxWindowSize);
groundOptions.add<double>("slope", m_slope);
groundOptions.add<double>("maxDistance", m_maxDistance);
groundOptions.add<double>("initialDistance", m_initialDistance);
groundOptions.add<double>("cellSize", m_cellSize);
groundOptions.add<bool>("classify", m_classify);
groundOptions.add<bool>("extract", m_extract);
groundOptions.add<bool>("approximate", m_approximate);
groundOptions.add<bool>("debug", isDebug());
groundOptions.add<uint32_t>("verbose", getVerboseLevel());
StageFactory f;
std::unique_ptr<Stage> groundStage(f.createStage("filters.ground"));
groundStage->setOptions(groundOptions);
groundStage->setInput(readerStage);
// setup the Writer and write the results
Options writerOptions;
writerOptions.add<std::string>("filename", m_outputFile);
setCommonOptions(writerOptions);
Stage& writer(Kernel::makeWriter(m_outputFile, *groundStage));
writer.setOptions(writerOptions);
std::vector<std::string> cmd = getProgressShellCommand();
UserCallback *callback =
cmd.size() ? (UserCallback *)new ShellScriptCallback(cmd) :
(UserCallback *)new HeartbeatCallback();
writer.setUserCallback(callback);
applyExtraStageOptionsRecursive(&writer);
writer.prepare(table);
// process the data, grabbing the PointViewSet for visualization of the
// resulting PointView
PointViewSet viewSetOut = writer.execute(table);
if (isVisualize())
visualize(*viewSetOut.begin());
//visualize(*viewSetIn.begin(), *viewSetOut.begin());
return 0;
}
int Ground::execute()
{
PointContext ctx;
Options readerOptions;
readerOptions.add<std::string>("filename", m_inputFile);
readerOptions.add<bool>("debug", isDebug());
readerOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> readerStage = makeReader(readerOptions);
// go ahead and prepare/execute on reader stage only to grab input
// PointBufferSet, this makes the input PointBuffer available to both the
// processing pipeline and the visualizer
readerStage->prepare(ctx);
PointBufferSet pbSetIn = readerStage->execute(ctx);
// the input PointBufferSet will be used to populate a BufferReader that is
// consumed by the processing pipeline
PointBufferPtr input_buffer = *pbSetIn.begin();
BufferReader bufferReader;
bufferReader.setOptions(readerOptions);
bufferReader.addBuffer(input_buffer);
Options groundOptions;
std::ostringstream ss;
ss << "{";
ss << " \"pipeline\": {";
ss << " \"filters\": [{";
ss << " \"name\": \"ProgressiveMorphologicalFilter\",";
ss << " \"setMaxWindowSize\": " << m_maxWindowSize << ",";
ss << " \"setSlope\": " << m_slope << ",";
ss << " \"setMaxDistance\": " << m_maxDistance << ",";
ss << " \"setInitialDistance\": " << m_initialDistance << ",";
ss << " \"setCellSize\": " << m_cellSize << ",";
ss << " \"setBase\": " << m_base << ",";
ss << " \"setExponential\": " << m_exponential;
ss << " }]";
ss << " }";
ss << "}";
std::string json = ss.str();
groundOptions.add<std::string>("json", json);
groundOptions.add<bool>("debug", isDebug());
groundOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> groundStage(new filters::PCLBlock());
groundStage->setInput(&bufferReader);
groundStage->setOptions(groundOptions);
// the PCLBlock groundStage consumes the BufferReader rather than the
// readerStage
groundStage->setInput(&bufferReader);
Options writerOptions;
writerOptions.add<std::string>("filename", m_outputFile);
setCommonOptions(writerOptions);
std::unique_ptr<Writer> writer(AppSupport::makeWriter(m_outputFile, groundStage.get()));
writer->setOptions(writerOptions);
std::vector<std::string> cmd = getProgressShellCommand();
UserCallback *callback =
cmd.size() ? (UserCallback *)new ShellScriptCallback(cmd) :
(UserCallback *)new HeartbeatCallback();
writer->setUserCallback(callback);
for (auto pi: getExtraStageOptions())
{
std::string name = pi.first;
Options options = pi.second;
std::vector<Stage*> stages = writer->findStage(name);
for (auto s: stages)
{
Options opts = s->getOptions();
for (auto o: options.getOptions())
opts.add(o);
s->setOptions(opts);
}
}
writer->prepare(ctx);
// process the data, grabbing the PointBufferSet for visualization of the
// resulting PointBuffer
PointBufferSet pbSetOut = writer->execute(ctx);
if (isVisualize())
visualize(*pbSetOut.begin());
//visualize(*pbSetIn.begin(), *pbSetOut.begin());
return 0;
}
