From 7997dc3e34eca38376221d98309fbad6fe083437 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Milczarek?= <luis.milczarek@hotmail.com>
Date: Sun, 21 Apr 2024 19:21:56 -0300
Subject: [PATCH] refactored to lib

---
 .gitignore                |  1 +
 CMakeLists.txt            | 16 +++++++++++-----
 include/pcd2ptx.hpp       | 22 ++++++++++++++++++++++
 pcd2ptx.cpp               | 25 ++++++++++++++++++-------
 tests/conversion_test.cpp | 10 ++++++++++
 5 files changed, 62 insertions(+), 12 deletions(-)
 create mode 100644 .gitignore
 create mode 100644 include/pcd2ptx.hpp
 create mode 100644 tests/conversion_test.cpp

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..d163863
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+build/
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 028c8e6..4346377 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
 
 set(CMAKE_INSTALL_PREFIX /usr/bin)
 
@@ -11,8 +11,14 @@ include_directories(include)
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
-add_executable (pcd2ptx pcd2ptx.cpp)
+file(GLOB HDRS ${CMAKE_CURRENT_SOURCE_DIR}/include/*)
+
+add_library(pcd2ptx pcd2ptx.cpp ${HDRS})
+target_include_directories(pcd2ptx PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
 target_link_libraries (pcd2ptx ${PCL_LIBRARIES})
-install(TARGETS pcd2ptx
-    DESTINATION ${CMAKE_INSTALL_PREFIX}
-    )
\ No newline at end of file
+
+
+add_executable(ConversionTest tests/conversion_test.cpp)
+target_link_libraries(ConversionTest pcd2ptx)
+
+add_test(NAME Conversion_Test COMMAND ConversionTest)
\ No newline at end of file
diff --git a/include/pcd2ptx.hpp b/include/pcd2ptx.hpp
new file mode 100644
index 0000000..c97dc17
--- /dev/null
+++ b/include/pcd2ptx.hpp
@@ -0,0 +1,22 @@
+#pragma once
+#include <iostream>
+
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+
+class Pcd2PtxConverter
+{
+    private:
+
+    std::string inputFile;
+    std::string outputFile;
+    void writePTXHeader(std::ofstream &file, const int width, const int height);
+    void writePTXFileXYZ(const std::string &filename, const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+    void writePTXFileXYZRGB(const std::string &filename, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);
+
+    public:
+    bool execute();
+    void setInputFile(std::string file);
+    void setOutputFile(std::string file);
+
+};
\ No newline at end of file
diff --git a/pcd2ptx.cpp b/pcd2ptx.cpp
index 32de0f3..eec938b 100644
--- a/pcd2ptx.cpp
+++ b/pcd2ptx.cpp
@@ -2,8 +2,9 @@
 #include <fstream>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
+#include <pcd2ptx.hpp>
 
-void writePTXHeader(std::ofstream &file, const int width, const int height)
+void Pcd2PtxConverter::writePTXHeader(std::ofstream &file, const int width, const int height)
 {
     file << width << std::endl
          << height << std::endl;
@@ -19,7 +20,7 @@ void writePTXHeader(std::ofstream &file, const int width, const int height)
     file << 0.f << " " << 0.f << " " << 0.f << " " << 1.f << std::endl;
 }
 
-void writePTXFileXYZ(const std::string &filename, const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
+void Pcd2PtxConverter::writePTXFileXYZ(const std::string &filename, const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
 {
     std::ofstream file(filename.c_str());
 
@@ -33,7 +34,7 @@ void writePTXFileXYZ(const std::string &filename, const pcl::PointCloud<pcl::Poi
     file.close();
 }
 
-void writePTXFileXYZRGB(const std::string &filename, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud)
+void Pcd2PtxConverter::writePTXFileXYZRGB(const std::string &filename, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud)
 {
     std::ofstream file(filename.c_str());
 
@@ -51,14 +52,24 @@ void writePTXFileXYZRGB(const std::string &filename, const pcl::PointCloud<pcl::
     file.close();
 }
 
-int main()
+bool Pcd2PtxConverter::execute()
 {
     // Load the point cloud data
     pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
-    pcl::io::loadPCDFile("pc.pcd", *cloud);
+    pcl::io::loadPCDFile(inputFile, *cloud);
 
     // Save to PTX format
-    writePTXFileXYZRGB("pc.ptx", cloud);
+    writePTXFileXYZRGB(outputFile, cloud);
 
-    return 0;
+    return true;
+}
+
+void Pcd2PtxConverter::setInputFile(std::string file)
+{
+    inputFile = file;
+}
+
+void Pcd2PtxConverter::setOutputFile(std::string file)
+{
+    outputFile = file;
 }
\ No newline at end of file
diff --git a/tests/conversion_test.cpp b/tests/conversion_test.cpp
new file mode 100644
index 0000000..dc33da5
--- /dev/null
+++ b/tests/conversion_test.cpp
@@ -0,0 +1,10 @@
+#include <iostream>
+#include <pcd2ptx.hpp>
+
+int main(int argc, char **argv)
+{
+    Pcd2PtxConverter converter;
+    converter.setInputFile("pca-modelo.pcd");
+    converter.setOutputFile("pca-modelo.ptx");
+    converter.execute();
+}
\ No newline at end of file