Added test application for loading additional views

metaroom_xml_parser/CMakeLists.txt

@@ -50,6 +50,8 @@ add_executable(load_labelled_data src/load_labelled_data.cpp )
 
 add_executable(test_dynamic_object_parser src/test_dynamic_object_parser.cpp )
 
+add_executable(load_additional_views src/load_additional_views_main.cpp )
+
  target_link_libraries(metaroom_xml_parser
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
@@ -84,11 +86,18 @@ add_executable(test_dynamic_object_parser src/test_dynamic_object_parser.cpp )
    metaroom_xml_parser
  )
 
+ target_link_libraries(load_additional_views
+   ${catkin_LIBRARIES}
+   ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
+   metaroom_xml_parser
+ )
+
 
 
 ############################# INSTALL TARGETS
 
-install(TARGETS metaroom_xml_parser  load_single_file load_multiple_files load_labelled_data
+install(TARGETS metaroom_xml_parser  load_single_file load_multiple_files load_labelled_data test_dynamic_object_parser load_additional_views
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

metaroom_xml_parser/src/load_additional_views_main.cpp

@@ -0,0 +1,41 @@
+#include <metaroom_xml_parser/simple_summary_parser.h>
+#include <metaroom_xml_parser/simple_xml_parser.h>
+#include <metaroom_xml_parser/simple_dynamic_object_parser.h>
+#include <metaroom_xml_parser/load_utilities.h>
+
+typedef pcl::PointXYZRGB PointType;
+typedef semantic_map_load_utilties::DynamicObjectData<PointType> ObjectData;
+
+typedef pcl::PointCloud<PointType> Cloud;
+typedef typename Cloud::Ptr CloudPtr;
+
+using namespace std;
+
+int main(int argc, char** argv)
+{
+    string folder;
+
+
+    if (argc > 1){
+        folder = argv[1];
+    } else {
+        cout<<"Please specify the folder from where to load the data."<<endl;
+        return -1;
+    }
+
+    cout<<"Looking for sweeps..."<<endl;
+    vector<string> sweep_xmls = semantic_map_load_utilties::getSweepXmls<PointType>(folder);
+    cout<<sweep_xmls.size()<<" sweeps found."<<endl;
+
+    for (string sweep : sweep_xmls){
+
+        cout<<"Sweep "<<sweep<<endl;
+
+        vector<ObjectData> objects = semantic_map_load_utilties::loadAllDynamicObjectsFromSingleSweep<PointType>(sweep);
+        cout<<"Found "<<objects.size()<<" objects"<<endl;
+        for (size_t k=0; k<objects.size(); k++){
+            auto object = objects[k];
+            cout<<"Object "<<k<<" has "<<object.vAdditionalViews.size()<<" additional views"<<endl;
+        }
+    }
+}