rtabmap.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
#include "../global-params.hpp"
#include "../import.hpp"
 
#include <CLI/CLI.hpp>
#include <filesystem>
#include <string>
 
namespace fs = std::filesystem;
 
struct SubcommandImportRTABMapOptions {
 
  fs::path database_path_in;
  fs::path trajectory_path_out = fs::current_path() / "trajectory.txt";
 
  float min_distance = 0.00f;
  float max_distance = 4.00f;
  size_t sampling_factor = 4;
  float resulution = GlobalParams::resulution;
};
 
// Function declarations.
void setup_subcommand_import_rtabmap(CLI::App &app, ImportContext &ctx);
int run_subcommand_import_rtabmap(SubcommandImportRTABMapOptions const &opt,
                                  ImportContext &ctx);