feat: add pcd2bt to pybind lib

spires_cpp/CMakeLists.txt

@@ -14,12 +14,25 @@ project(
 find_package(Python REQUIRED COMPONENTS Interpreter Development.Module)
 find_package(pybind11 CONFIG REQUIRED)
 find_package(PCL REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(octomap REQUIRED)
 
 # Add a library using FindPython's tooling (pybind11 also provides a helper like
 # this)
-include_directories(${PCL_INCLUDE_DIRS})
-python_add_library(_core MODULE src/spires_cpp/main.cpp WITH_SOABI)
-target_link_libraries(_core PRIVATE pybind11::headers ${PCL_LIBRARIES})
+include_directories(${PCL_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS})
+include_directories(${CMAKE_SOURCE_DIR}/include)
+
+set(SOURCES
+    src/spires_cpp/main.cpp
+    src/spires_cpp/octomap/pcd2bt.cpp
+)
+
+python_add_library(_core MODULE ${SOURCES} WITH_SOABI)
+target_link_libraries(_core PRIVATE 
+  pybind11::headers
+  ${PCL_LIBRARIES}
+  ${OCTOMAP_LIBRARIES}
+)
 
 # This is passing in the version as a define just as an example
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})

spires_cpp/include/pcd2bt.h

@@ -0,0 +1,20 @@
+#ifndef PROCESS_PCD_FOLDER_H
+#define PROCESS_PCD_FOLDER_H
+
+#include <iostream>
+#include <vector>
+#include <string>
+#include <algorithm>
+#include <dirent.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl/common/transforms.h>
+#include <octomap/octomap.h>
+#include <octomap/OcTree.h>
+#include <Eigen/Geometry>
+
+
+// Function to process PCD files in a folder and generate an OctoMap
+void processPCDFolder(const std::string& folderPath, double resolution, const std::string& save_path);
+
+#endif // PROCESS_PCD_FOLDER_H

spires_cpp/src/spires_cpp/__init__.py

@@ -1,5 +1,5 @@
 from __future__ import annotations
 
-from ._core import __doc__, __version__, add, subtract
+from ._core import __doc__, __version__, processPCDFolder
 
-__all__ = ["__doc__", "__version__", "add", "subtract"]
+__all__ = ["__doc__", "__version__", "processPCDFolder"]

spires_cpp/src/spires_cpp/main.cpp

@@ -1,6 +1,8 @@
 #include <pybind11/pybind11.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
+#include "progress_bar.h"
+#include "pcd2bt.h"
 
 #define STRINGIFY(x) #x
 #define MACRO_STRINGIFY(x) STRINGIFY(x)
@@ -24,19 +26,10 @@ PYBIND11_MODULE(_core, m) {
            add
            subtract
     )pbdoc";
-
-    m.def("add", &add, R"pbdoc(
-        Add two numbers
-
-        Some other explanation about the add function.
-    )pbdoc");
-
-    m.def("subtract", [](int i, int j) { return i - j; }, R"pbdoc(
-        Subtract two numbers
-
-        Some other explanation about the subtract function.
-    )pbdoc");
-
+    m.def("processPCDFolder", &processPCDFolder, "Process PCD files and save to OctoMap",
+        py::arg("folderPath"), py::arg("resolution"), py::arg("save_path"));
+    // m.def("processPCDFolder", &processPCDFolder, "Process PCD files and save to OctoMap",
+    //     py::arg("folderPath"), py::arg("resolution"), py::arg("save_path"));
 #ifdef VERSION_INFO
     m.attr("__version__") = MACRO_STRINGIFY(VERSION_INFO);
 #else

spires_cpp/src/spires_cpp/octomap/pcd2bt.cpp

@@ -1,14 +1,4 @@
-#include <iostream>
-#include <vector>
-#include <string>
-#include <algorithm>
-#include <dirent.h>
-#include <pcl/io/pcd_io.h>
-#include <pcl/point_types.h>
-#include <pcl/common/transforms.h> 
-#include <octomap/octomap.h>
-#include <octomap/OcTree.h>
-#include <Eigen/Geometry>
+#include "pcd2bt.h"
 
 // Function to list files in a directory
 std::vector<std::string> listFiles(const std::string& folderPath) {
@@ -88,30 +78,3 @@ void processPCDFolder(const std::string& folderPath, double resolution, const st
     std::cout << "Octomap saved to " << save_path << std::endl;
 }
 
-int main(int argc, char** argv) {
-    if (argc < 2) {
-        std::cerr << "Usage: " << argv[0] << " <path_to_pcd_folder> -r [resolution] -s [saved_path]" << std::endl;
-        return 1;
-    }
-    std::string folderPath = argv[1];
-    double resolution = 0.1;
-    std::string save_path = "result_octomap.bt";
-
-    // Parse command line arguments
-    for (int i = 2; i < argc; ++i) {
-        std::string arg = argv[i];
-        if (arg == "-r" && i + 1 < argc) {
-            resolution = std::stod(argv[++i]);
-        } else if (arg == "-s" && i + 1 < argc) {
-            save_path = argv[++i];
-        } else {
-            std::cerr << "Unknown argument or missing value: " << arg << std::endl;
-            std::cerr << "Usage: " << argv[0] << " <path_to_pcd_folder> -r [resolution] -s [saved_path]" << std::endl;
-            return 1;
-        }
-    }
-
-    processPCDFolder(folderPath, resolution, save_path);
-
-    return 0;
-}