main.cpp

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#include <dirent.h>
#include <vector>
#include <string>
#include <iostream>

#include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include "laserNAVCalib.h"

//convenient typedefs
typedef pcl::PointNormal PointT;
typedef pcl::PointCloud<PointT> pointCloud;

std::vector<std::string> open(std::string path = ".") {
    DIR* dir;
    dirent* pdir;
    std::vector<std::string> scans;

    dir = opendir(path.c_str());

    while ((pdir = readdir(dir))) {
        scans.push_back(path + pdir->d_name);
    }

    scans.erase(std::find(scans.begin(), scans.end(), path + "."));
    scans.erase(std::find(scans.begin(), scans.end(), path + ".."));

    return scans;
}

int main(int argc, char* argv[]) {
    if (argc < 2) {
        return EXIT_FAILURE;
    }

    std::vector<std::string> scans = open(argv[1]);
    filter::LaserNAVCalibration calibrator(0.43, 0, -0.15, 90, 0, 90);

    for (auto scan : scans) {
        switch (argc) {
        case 2:
            calibrator.setScansBetweenLastAndLatest(atoi(argv[2]));
        }
        pointCloud::Ptr new_cloud_data (new pointCloud);
        pcl::io::loadPCDFile(scan, *new_cloud_data);
        calibrator.update(new_cloud_data);
    }
    return 1;
}