int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
const char*input_filename;
const char*output_pattern_op;
struct option* ops = options_allocate(3);
options_string(ops, "in", &input_filename, "stdin", "input file (JSON)");
options_string(ops, "out", &output_pattern_op, "./ld_split^02d.json", "output pattern; printf() pattern, but write '^' instead of '%'");
if(!options_parse_args(ops, argc, argv)) {
fprintf(stderr, "%s : splits a JSON file into many files."
"\n\nOptions:\n", argv[0]);
options_print_help(ops, stderr);
return -1;
}
/* Substitute "$" with "%" */
char output_pattern[256];
strcpy(output_pattern, output_pattern_op);
char *f = output_pattern;
while(*f) {
if(*f=='^') *f='%';
f++;
}
fputs(output_pattern, stderr);
FILE * input_stream = open_file_for_reading(input_filename);
int count = 0;
JO jo;
while( (jo = json_read_stream(input_stream)) ) {
char filename[1000];
sprintf(filename, output_pattern, count);
if(!count) {
}
sm_debug("Writing to file (%s) %s\n", output_pattern, filename);
FILE * f = open_file_for_writing(filename);
if(!f) return -1;
fputs(json_object_to_json_string(jo), f);
jo_free(jo);
fclose(f);
count++;
}
return 0;
}
int main(int argc, const char* argv[]) {
sm_set_program_name(argv[0]);
log2pdf_params p;
lds_set_defaults(&(p.laser));
ls_set_defaults(&(p.pose_path));
p.laser.rays.draw = 0;
p.laser.points.draw = 0;
p.laser.normals.draw = 0;
p.laser.countour.width = 0.1;
p.pose_path.width = 0.1;
p.pose_path.color = "#f00";
options_banner(banner);
struct option * ops = options_allocate(100);
options_string(ops, "in", &p.input_filename, "stdin", "input file (Carmen or JSON)");
options_string(ops, "out", &p.output_filename, "", "output file (if empty, input file + '.pdf')");
options_double(ops, "padding", &p.padding, 0.2, "padding around bounding box (m)");
options_double(ops, "dimension", &p.dimension, 500.0, "dimension of the image (points)");
options_double(ops, "offset_theta_deg", &p.offset_theta_deg, 0.0, " rotate entire map by this angle (deg) ");
options_string(ops, "use", &p.use, "estimate", "One in 'odometry','estimate','true_pose'");
options_double(ops, "distance_xy", &p.distance_xy, 5.0, " Minimum distance between scans (m) ");
options_double(ops, "distance_th_deg", &p.distance_th_deg, 45.0, " Minimum distance between scans (deg) ");
options_double(ops, "start_pose_width", &p.start_pose_width, 0.4, "First pose | Circle width");
lds_add_options(&(p.laser), ops, "laser_", "");
ls_add_options(&(p.pose_path), ops, "path_", "");
if(!options_parse_args(ops, argc, argv)) {
sm_error("Could not parse arguments.\n");
options_print_help(ops, stderr);
return -1;
}
/* If out not specified */
if(strlen(p.output_filename)==0) {
char buf[PATH_MAX];
sprintf(buf, "%s.pdf", p.input_filename);
p.output_filename = my_strdup(buf);
/* sm_info("Writing on file '%s'.\n", p.output_filename);*/
}
p.use_reference = ld_string_to_reference(p.use);
if(Invalid == p.use_reference) {
sm_error("Invalid reference '%s'. "
"Use one in 'odometry','estimate','true_pose'.\n", p.use);
return -1;
}
/* sm_info("Using reference: %s.\n", ld_reference_to_string(p.use_reference));*/
return !log2pdf(&p);
}
int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
options_banner("ld_purify: Makes sure that the file format is valid. \n * Sets valid=0 if reading is outside interval ");
struct ld_purify_params p;
struct option* ops = options_allocate(20);
options_double(ops, "threshold_min", &p.threshold_min, 0.01,
"Sets valid=0 if readings are less than this threshold.");
options_double(ops, "threshold_max", &p.threshold_max, 79.0,
"Sets valid=0 if readings are more than this threshold.");
options_string(ops, "in", &p.file_input, "stdin", "Input file ");
options_string(ops, "out", &p.file_output, "stdout", "Output file ");
if(!options_parse_args(ops, argc, argv)) {
options_print_help(ops, stderr);
return -1;
}
FILE * in = open_file_for_reading(p.file_input);
if(!in) return -3;
FILE * out = open_file_for_writing(p.file_output);
if(!out) return -2;
LDP ld; int count = -1;
while( (ld = ld_from_json_stream(in))) {
purify(ld, p.threshold_min, p.threshold_max);
if(!ld_valid_fields(ld)) {
sm_error("Wait, we didn't purify enough (#%d in file)\n", count);
continue;
}
ld_write_as_json(ld, out);
ld_free(ld);
}
return 0;
}
void verifier_options(verifier_params *p, struct option*ops) {
options_string(ops, "smStats",
&(p->smStats), "",
"Input laser file");
options_string(ops, "odometry",
(&p->odometry), "",
"Input odometry file ");
options_string(ops, "calib_params",
&(p->calib_params), "",
"Input file with estimated parameters");
options_string(ops, "out",
&(p->out), "stdout",
"Output file");
options_int(ops, "use_gsl",
&(p->use_gsl), 0,
"0: no GSL; 1 use GSL");
}
int main(int argc, const char ** argv) {
sm_set_program_name(argv[0]);
struct ld_exp_tro1_params p;
options_banner(banner);
struct option* ops = options_allocate(10);
options_double(ops, "max_xy_error", &p.max_xy_error, 10.0, "Maximum error for x,y (m)");
options_double(ops, "max_theta_error_deg", &p.max_theta_error_deg, 10.0, "Maximum error for orientation (deg)");
options_int (ops, "seed", &p.seed, 0, "Seed for random number generator (if 0, use GSL_RNG_SEED env. variable).");
options_int(ops, "num_per_scan", &p.num_per_scan, 10, "Number of trials for each scan.");
options_string(ops, "in", &p.file_input, "stdin", "Input file ");
options_string(ops, "out1", &p.file_output1, "stdout", "Output file for first scan");
options_string(ops, "out2", &p.file_output2, "stdout", "Output file for second scan");
options_int(ops, "debug", &p.debug, 0, "Shows debug information");
if(!options_parse_args(ops, argc, argv)) {
options_print_help(ops, stderr);
return -1;
}
sm_debug_write(p.debug);
gsl_rng_env_setup();
gsl_rng * rng = gsl_rng_alloc (gsl_rng_ranlxs0);
if(p.seed != 0)
gsl_rng_set(rng, (unsigned int) p.seed);
/* Open the two output files (possibly the same one) */
FILE * in = open_file_for_reading(p.file_input);
if(!in) return -3;
FILE * out1 = open_file_for_writing(p.file_output1);
if(!out1) return -2;
FILE * out2;
if(!strcmp(p.file_output1, p.file_output2)) {
out1 = out2;
} else {
out2 = open_file_for_writing(p.file_output2);
if(!out2) return -2;
}
/* Read laser data from input file */
LDP ld; int count=0;
while( (ld = ld_read_smart(in))) {
count++;
if(!ld_valid_fields(ld)) {
sm_error("Invalid laser data (#%d in file)\n", count);
continue;
}
for(int n=0; n < p.num_per_scan; n++) {
ld->true_pose[0] = 0;
ld->true_pose[1] = 0;
ld->true_pose[2] = 0;
ld->odometry[0] = 0;
ld->odometry[1] = 0;
ld->odometry[2] = 0;
ld_write_as_json(ld, out1);
ld->odometry[0] = 2*(gsl_rng_uniform(rng)-0.5) * p.max_xy_error;
ld->odometry[1] = 2*(gsl_rng_uniform(rng)-0.5) * p.max_xy_error;
ld->odometry[2] = 2*(gsl_rng_uniform(rng)-0.5) * deg2rad(p.max_theta_error_deg);
ld_write_as_json(ld, out2);
}
ld_free(ld);
}
return 0;
}
int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
const char *in_filename;
const char *ref_filename;
const char *out_filename;
const char *ref_field_string; ld_reference ref_field;
const char *out_field_string; ld_reference out_field;
struct option* ops = options_allocate(15);
options_string(ops, "in", &in_filename, "stdin", "scan matching log");
options_string(ops, "ref", &ref_filename, "ref.log", "slam log");
options_string(ops, "out", &out_filename, "stdout", "output file");
options_string(ops, "ref_field", &ref_field_string, "estimate", "What field to find in ref.");
options_string(ops, "out_field", &out_field_string, "true_pose", "What field to copy to.");
if(!options_parse_args(ops, argc, argv)) {
fprintf(stderr, " This program works on two logs: A and B. "
"For each scan in A, the program searches for the scan in B having the same timestamp. "
"Then, the true_pose field in B is copied to the scan form A, and it is written to the output.\n");
options_print_help(ops, stderr);
return -1;
}
ref_field = ld_string_to_reference(ref_field_string);
out_field = ld_string_to_reference(out_field_string);
FILE * in_stream = open_file_for_reading(in_filename);
FILE * ref_stream = open_file_for_reading(ref_filename);
FILE * out_stream = open_file_for_writing(out_filename);
if(!in_stream || !ref_stream || !out_stream) return -1;
LDP ld_in;
while((ld_in = ld_read_smart(in_stream))) {
int matched = 0;
while(1) {
LDP ld_ref = ld_read_smart(ref_stream);
if(!ld_ref) break;
if(same_scan(ld_in, ld_ref)) {
matched = 1;
const double *ref_pose = ld_get_reference_pose(ld_ref, ref_field);
double *out_pose = ld_get_reference_pose_silent(ld_in, out_field);
copy_d(ref_pose, 3, out_pose);
ld_write_as_json(ld_in, out_stream);
fputs("\n", out_stream);
break;
}
ld_free(ld_ref);
}
if(!matched) {
sm_error("Could not match %s. \n", short_desc(ld_in));
if(feof(ref_stream)) {
sm_error("..because ref stream has ended.\n");
break;
}
continue;
}
ld_free(ld_in);
}
return 0;
}
int main(int argc, const char*argv[]) {
sm_set_program_name(argv[0]);
struct sm_params params;
struct sm_result result;
struct option* ops = options_allocate(100);
options_string(ops, "in", &p.file_in, "stdin", "Input file ");
options_string(ops, "out", &p.file_out, "stdout", "Output file ");
options_string(ops, "out_stats", &p.file_out_stats, "", "Output file (stats) ");
options_string(ops, "file_jj", &p.file_jj, "",
"File for journaling -- if left empty, journal not open.");
options_int(ops, "algo", &p.algo, 0, "Which algorithm to use (0:(pl)ICP 1:gpm-stripped 2:HSM) ");
options_int(ops, "debug", &p.debug, 0, "Shows debug information");
options_int(ops, "recover_from_error", &p.recover_from_error, 0, "If true, tries to recover from an ICP matching error");
p.format = 0;
/* options_int(ops, "format", &p.format, 0,
"Output format (0: log in JSON format, 1: log in Carmen format (not implemented))");*/
sm_options(¶ms, ops);
if(!options_parse_args(ops, argc, argv)) {
fprintf(stderr, "\n\nUsage:\n");
options_print_help(ops, stderr);
return -1;
}
sm_debug_write(p.debug);
/* Open input and output files */
FILE * file_in = open_file_for_reading(p.file_in);
if(!file_in) return -1;
FILE * file_out = open_file_for_writing(p.file_out);
if(!file_out) return -1;
if(strcmp(p.file_jj, "")) {
FILE * jj = open_file_for_writing(p.file_jj);
if(!jj) return -1;
jj_set_stream(jj);
}
FILE * file_out_stats = 0;
if(strcmp(p.file_out_stats, "")) {
file_out_stats = open_file_for_writing(p.file_out_stats);
if(!file_out_stats) return -1;
}
/* Read first scan */
LDP laser_ref;
if(!(laser_ref = ld_read_smart(file_in))) {
sm_error("Could not read first scan.\n");
return -1;
}
if(!ld_valid_fields(laser_ref)) {
sm_error("Invalid laser data in first scan.\n");
return -2;
}
/* For the first scan, set estimate = odometry */
copy_d(laser_ref->odometry, 3, laser_ref->estimate);
spit(laser_ref, file_out);
int count=-1;
LDP laser_sens;
while( (laser_sens = ld_read_smart(file_in)) ) {
count++;
if(!ld_valid_fields(laser_sens)) {
sm_error("Invalid laser data in (#%d in file).\n", count);
return -(count+2);
}
params.laser_ref = laser_ref;
params.laser_sens = laser_sens;
/* Set first guess as the difference in odometry */
if( any_nan(params.laser_ref->odometry,3) ||
any_nan(params.laser_sens->odometry,3) ) {
sm_error("The 'odometry' field is set to NaN so I don't know how to get an initial guess. I usually use the difference in the odometry fields to obtain the initial guess.\n");
sm_error(" laser_ref->odometry = %s \n", friendly_pose(params.laser_ref->odometry) );
sm_error(" laser_sens->odometry = %s \n", friendly_pose(params.laser_sens->odometry) );
sm_error(" I will quit it here. \n");
return -3;
}
double odometry[3];
pose_diff_d(laser_sens->odometry, laser_ref->odometry, odometry);
double ominus_laser[3], temp[3];
ominus_d(params.laser, ominus_laser);
oplus_d(ominus_laser, odometry, temp);
oplus_d(temp, params.laser, params.first_guess);
/* Do the actual work */
switch(p.algo) {
case(0):
sm_icp(¶ms, &result); break;
case(1):
sm_gpm(¶ms, &result); break;
case(2):
sm_hsm(¶ms, &result); break;
default:
sm_error("Unknown algorithm to run: %d.\n",p.algo);
return -1;
}
if(!result.valid){
if(p.recover_from_error) {
sm_info("One ICP matching failed. Because you passed -recover_from_error, I will try to recover."
" Note, however, that this might not be good in some cases. \n");
sm_info("The recover is that the displacement is set to 0. No result stats is output. \n");
/* For the first scan, set estimate = odometry */
copy_d(laser_ref->estimate, 3, laser_sens->estimate);
ld_free(laser_ref); laser_ref = laser_sens;
} else {
sm_error("One ICP matching failed. Because I process recursively, I will stop here.\n");
sm_error("Use the option -recover_from_error if you want to try to recover.\n");
ld_free(laser_ref);
return 2;
}
} else {
/* Add the result to the previous estimate */
oplus_d(laser_ref->estimate, result.x, laser_sens->estimate);
/* Write the corrected log */
spit(laser_sens, file_out);
/* Write the statistics (if required) */
if(file_out_stats) {
JO jo = result_to_json(¶ms, &result);
fputs(jo_to_string(jo), file_out_stats);
fputs("\n", file_out_stats);
jo_free(jo);
}
ld_free(laser_ref); laser_ref = laser_sens;
}
}
ld_free(laser_ref);
return 0;
}
int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
options_banner("ld_noise: Adds noise to readings in a scan");
struct ld_noise_params p;
struct option* ops = options_allocate(20);
options_double(ops, "discretization", &p.discretization, 0.0,
"Size of discretization (disabled if 0)");
options_double(ops, "sigma", &p.sigma, 0.0,
"Std deviation of gaussian noise (disabled if 0)");
options_int(ops, "lambertian", &p.lambertian, 0,
"Use lambertian model cov = sigma^2 / cos(beta^2) where beta is the incidence. Need have alpha or true_alpha.");
options_int(ops, "seed", &p.seed, 0,
"Seed for random number generator (if 0, use GSL_RNG_SEED env. variable).");
options_string(ops, "in", &p.file_input, "stdin", "Input file ");
options_string(ops, "out", &p.file_output, "stdout", "Output file ");
if(!options_parse_args(ops, argc, argv)) {
fprintf(stderr, "A simple program for adding noise to sensor scans.\n\nUsage:\n");
options_print_help(ops, stderr);
return -1;
}
FILE * in = open_file_for_reading(p.file_input);
if(!in) return -3;
FILE * out = open_file_for_writing(p.file_output);
if(!out) return -2;
gsl_rng_env_setup();
gsl_rng * rng = gsl_rng_alloc (gsl_rng_ranlxs0);
if(p.seed != 0)
gsl_rng_set(rng, (unsigned int) p.seed);
LDP ld; int count = 0;
while( (ld = ld_from_json_stream(in))) {
if(!ld_valid_fields(ld)) {
sm_error("Invalid laser data (#%d in file)\n", count);
continue;
}
int i;
for(i=0;i<ld->nrays;i++) {
if(!ld->valid[i]) continue;
double * reading = ld->readings + i;
if(p.sigma > 0) {
double add_sigma = p.sigma;
if(p.lambertian) {
int have_alpha = 0;
double alpha = 0;
if(!is_nan(ld->true_alpha[i])) {
alpha = ld->true_alpha[i];
have_alpha = 1;
} else if(ld->alpha_valid[i]) {
alpha = ld->alpha[i];;
have_alpha = 1;
} else have_alpha = 0;
if(have_alpha) {
/* Recall that alpha points outside the surface */
double beta = (alpha+M_PI) - ld->theta[i];
add_sigma = p.sigma / cos(beta);
} else {
sm_error("Because lambertian is active, I need either true_alpha[] or alpha[]");
ld_write_as_json(ld, stderr);
return -1;
}
}
*reading += gsl_ran_gaussian(rng, add_sigma);
if(is_nan(ld->readings_sigma[i])) {
ld->readings_sigma[i] = add_sigma;
} else {
ld->readings_sigma[i] = sqrt(square(add_sigma) + square(ld->readings_sigma[i]));
}
}
if(p.discretization > 0)
*reading -= fmod(*reading , p.discretization);
}
ld_write_as_json(ld, out);
ld_free(ld);
}
return 0;
}