// }}}
int main(int argc, char* argv[]){ // {{{
// {{{ initial definitions
cmd.parse( argc, argv );
int error=0;
string option=optionArg.getValue();
cout.precision(17); cerr.precision(17);
// }}}
// {{{ Set seed for random
unsigned int semilla=seed.getValue();
if (semilla == 0){
Random semilla_uran; semilla=semilla_uran.strong();
}
RNG_reset(semilla);
// }}}
// {{{ Report on the screen
if(!no_general_report.getValue()){
cout << "#linea de comando: ";
for(int i=0;i<argc;i++){
cout <<argv[i]<<" " ;
} cout << endl ;
cout << "#semilla = " << semilla << endl;
error += system("echo \\#hostname: $(hostname)");
error += system("echo \\#comenzando en: $(date)");
error += system("echo \\#uname -a: $(uname -a)");
error += system("echo \\#working dir: $(pwd)");
}
// }}}
if //{{{ option == loquesea
(option == "loquesea"){ // {{{
// }}}
} else if (option == "nichts") { // {{{
// }}}
} else { // {{{
cout << "Error en la opcion. Mira, esto es lo que paso: "
<< optionArg.getValue() << endl;
} // }}}
// }}}
// {{{ Final report
if(!no_general_report.getValue()){
error += system("echo \\#terminando: $(date)");
}
// }}}
return 0;
} // }}}
// ======================================================================
// See TOutputRawlogCreator declaration
// ======================================================================
TOutputRawlogCreator::TOutputRawlogCreator()
{
if (!arg_output_file.isSet())
throw runtime_error("This operation requires an output file. Use '-o file' or '--output file'.");
out_rawlog_filename = arg_output_file.getValue();
if (fileExists(out_rawlog_filename) && !arg_overwrite.getValue() )
throw runtime_error(string("*ABORTING*: Output file already exists: ") + out_rawlog_filename + string("\n. Select a different output path, remove the file or force overwrite with '-w' or '--overwrite'.") );
if (!out_rawlog.open(out_rawlog_filename))
throw runtime_error(string("*ABORTING*: Cannot open output file: ") + out_rawlog_filename );
}
// Main
// ////////////////////////////////////////////////////////////
int main(int argc, char** argv)
{
// initializign the logger instance
COutputLogger logger("graphslam-engine_app");
logger.logging_enable_keep_record = true;
try
{
bool showHelp = argc > 1 && !os::_strcmp(argv[1], "--help");
bool showVersion = argc > 1 && !os::_strcmp(argv[1], "--version");
// Input Validation
cmd_line.xorAdd(dim_2d, dim_3d);
if (!cmd_line.parse(argc, argv) || showVersion || showHelp)
{
return 0;
}
// CGraphSlamEngine initialization
if (dim_2d.getValue())
{
execGraphSlamEngine<CNetworkOfPoses2DInf>(&logger);
}
else
{
execGraphSlamEngine<CNetworkOfPoses3DInf>(&logger);
}
return 0;
}
catch (exception& e)
{
logger.logFmt(
LVL_ERROR, "Program finished due to an exception!!\n%s\n",
e.what());
printf("%s", e.what());
mrpt::system::pause();
return -1;
}
catch (...)
{
logger.logFmt(
LVL_ERROR, "Program finished due to an untyped exception!!");
mrpt::system::pause();
return -1;
}
return 0;
}
// }}}
int main(int argc, char* argv[]) { // {{{
// {{{ initial definitions
cmd.parse( argc, argv );
int error=0;
string option=optionArg.getValue();
cout.precision(17); cerr.precision(17);
// }}}
// {{{ Set seed for random
unsigned int semilla=seed.getValue();
if (semilla == 0){
Random semilla_uran; semilla=semilla_uran.strong();
}
RNG_reset(semilla);
// }}}
// {{{ Report on the screen
if(!no_general_report.getValue()){
cout << "#linea de comando: ";
for(int i=0;i<argc;i++){
cout <<argv[i]<<" " ;
} cout << endl ;
cout << "#semilla = " << semilla << endl;
error += system("echo \\#hostname: $(hostname)");
error += system("echo \\#comenzando en: $(date)");
error += system("echo \\#uname -a: $(uname -a)");
error += system("echo \\#working dir: $(pwd)");
}
// }}}
if //{{{ option == loquesea
(option == "get_gse_spectrum"){ // {{{
vec eig=eig_sym(RandomGSEDeltaOne(dimension.getValue()));
for (int i=0; i<eig.size(); i++){ cout << eig(i) << endl;}
// cout << eig << endl;
return 0;
} // }}}
else if (option == "get_gse_flat_spectrum"){ // {{{
vec eig=FlatSpectrumGSE(dimension.getValue());
for (int i=0; i<eig.size(); i++){ cout << eig(i) << endl;}
// cout << eig <<endl;
return 0;
} // }}}
else if (option == "get_gse_flat_spectrum"){ // {{{
vec eig=FlatSpectrumGSE(dimension.getValue());
for (int i=0; i<eig.size(); i++){ cout << eig(i) << endl;}
// cout << eig <<endl;
return 0;
} // }}}
//}}}
} // }}}
// ======================================================================
// See TOutputRawlogCreator declaration
// ======================================================================
TOutputRawlogCreator::TOutputRawlogCreator()
{
if (!arg_output_file.isSet())
throw runtime_error(
"This operation requires an output file. Use '-o file' or "
"'--output file'.");
out_rawlog_filename = arg_output_file.getValue();
if (fileExists(out_rawlog_filename) && !arg_overwrite.getValue())
throw runtime_error(
string("*ABORTING*: Output file already exists: ") +
out_rawlog_filename +
string("\n. Select a different output path, remove the file or "
"force overwrite with '-w' or '--overwrite'."));
if (!out_rawlog_io.open(out_rawlog_filename))
throw runtime_error(
string("*ABORTING*: Cannot open output file: ") +
out_rawlog_filename);
out_rawlog = std::make_unique<
mrpt::serialization::CArchiveStreamBase<mrpt::io::CFileGZOutputStream>>(
out_rawlog_io);
}
// -----------------------------------------------
// MAIN
// -----------------------------------------------
int main(int argc, char** argv)
{
try
{
// Parse arguments:
if (!cmd.parse(argc, argv))
throw std::runtime_error(""); // should exit.
const string input_log = arg_input_file.getValue();
const string output_rawlog = arg_output_file.getValue();
const bool verbose = !arg_quiet.getValue();
const bool overwrite = arg_overwrite.getValue();
const int compress_level = arg_gz_level.getValue();
// Check files:
if (!mrpt::system::fileExists(input_log))
throw runtime_error(
format("Input file doesn't exist: '%s'", input_log.c_str()));
if (mrpt::system::fileExists(output_rawlog) && !overwrite)
throw runtime_error(
format(
"Output file already exist: '%s' (Use --overwrite to "
"override)",
output_rawlog.c_str()));
VERBOSE_COUT << "Input log : " << input_log << endl;
VERBOSE_COUT << "Output rawlog : " << output_rawlog
<< " (Compression level: " << compress_level << ")\n";
// Open I/O streams:
std::ifstream input_stream(input_log.c_str());
if (!input_stream.is_open())
throw runtime_error(
format("Error opening for read: '%s'", input_log.c_str()));
mrpt::utils::CFileGZOutputStream out_rawlog;
if (!out_rawlog.open(output_rawlog, compress_level))
throw runtime_error(
format("Error opening for write: '%s'", output_rawlog.c_str()));
// --------------------------------
// The main loop
// --------------------------------
vector<CObservation::Ptr> importedObservations;
map<TTimeStamp, TPose2D> groundTruthPoses; // If found...
unsigned int nSavedObs = 0;
const mrpt::system::TTimeStamp base_timestamp = mrpt::system::now();
const uint64_t totalInFileSize = mrpt::system::getFileSize(input_log);
int decimateUpdateConsole = 0;
while (carmen_log_parse_line(
input_stream, importedObservations, base_timestamp))
{
for (size_t i = 0; i < importedObservations.size(); i++)
{
out_rawlog << *importedObservations[i];
nSavedObs++;
// by the way: if we have an "odometry" observation but it's not
// alone, it's probably
// a "corrected" odometry from some SLAM program, so save it as
// ground truth:
if (importedObservations.size() > 1 &&
IS_CLASS(importedObservations[i], CObservationOdometry))
{
CObservationOdometry::Ptr odo =
std::dynamic_pointer_cast<CObservationOdometry>(
importedObservations[i]);
groundTruthPoses[odo->timestamp] = TPose2D(odo->odometry);
}
}
// Update progress in the console:
// ----------------------------------
if (verbose && ++decimateUpdateConsole > 10)
{
decimateUpdateConsole = 0;
const std::streampos curPos = input_stream.tellg();
const double progress_ratio =
double(curPos) / double(totalInFileSize);
static const int nBlocksTotal = 50;
const int nBlocks = progress_ratio * nBlocksTotal;
cout << "\rProgress: [" << string(nBlocks, '#')
<< string(nBlocksTotal - nBlocks, ' ')
<< format(
"] %6.02f%% (%u objects)", progress_ratio * 100,
nSavedObs);
cout.flush();
}
};
cout << "\n";
// If we had ground-truth robot poses, save to file:
if (!groundTruthPoses.empty())
{
const string gt_filename =
mrpt::system::fileNameChangeExtension(output_rawlog, "gt.txt");
cout << "Note: Saving ground truth pose information to '"
<< gt_filename << "'\n";
std::ofstream gt_file;
gt_file.open(gt_filename.c_str());
if (!gt_file.is_open())
throw std::runtime_error(
format(
"Couldn't open output file for ground truth: '%s'",
gt_filename.c_str()));
gt_file
<< "% Ground truth positioning data \n"
"% Timestamp (sec) x (m) y (m) phi (rad) \n"
"% ----------------------------------------------------\n";
for (map<TTimeStamp, TPose2D>::const_iterator it =
groundTruthPoses.begin();
it != groundTruthPoses.end(); ++it)
gt_file << format(
" %12.06f %9.03f %9.03f %9.04f\n",
mrpt::system::timestampToDouble(it->first), it->second.x,
it->second.y, it->second.phi);
}
// successful end of program.
return 0;
}
catch (std::exception& e)
{
if (strlen(e.what())) std::cerr << e.what() << std::endl;
return -1;
}
}
int main (int argc, char *argv[]) {
/** Set up the command line arguments */
TCLAP::CmdLine command ("Parition a graph based on sparsification",
' ');
TCLAP::SwitchArg randomSwitch ("r",
"random",
"Use a random graph",
command,
false);
TCLAP::SwitchArg debugSwitch ("d",
"debug",
"Print debug messages",
command,
false);
TCLAP::ValueArg<double> tRatio ("t",
"t-ratio",
"Tau ratio; how big can Tau be w.r.t N",
true,
2.0,
"double");
command.add (tRatio);
TCLAP::ValueArg<double> sRatio ("s",
"s-ratio",
"Ratio for num samples to take w.r.t Tau",
true,
1.0,
"double");
command.add (sRatio);
TCLAP::ValueArg<int> kSteps ("k",
"k-steps",
"The number of B.F.S steps for local graph",
true,
2,
"int");
command.add (kSteps);
TCLAP::ValueArg<int> nParts ("p",
"n-parts",
"The number of partitions to create",
true,
2,
"int");
command.add (nParts);
TCLAP::ValueArg<int> rSeed ("x",
"r-seed",
"The seed for the PRNG",
false,
0,
"int");
command.add (rSeed);
TCLAP::ValueArg<bool> isErdos ("g",
"r-type",
"Is this a Erdos-Renyi graph",
false,
false,
"bool");
command.add (isErdos);
TCLAP::ValueArg<int> nVerts ("m",
"n-verts",
"The number of vertices to generate",
false,
10,
"int");
command.add (nVerts);
TCLAP::ValueArg<int> nEdges ("n",
"n-edges",
"The number of edges to generate",
false,
10*9,
"int");
command.add (nEdges);
TCLAP::ValueArg<double> minWeight ("l",
"min-weight",
"Minimum edge weight",
false,
1.0,
"double");
command.add (minWeight);
TCLAP::ValueArg<double> maxWeight ("u",
"max-weight",
"Maximum edge weight",
false,
1.0,
"double");
command.add (maxWeight);
TCLAP::ValueArg<std::string> fileType ("i",
"input-file",
"Type of the file to read",
false,
"MATRIX_MARKET",
"string");
command.add (fileType);
TCLAP::ValueArg<std::string> fileName ("f",
"file-name",
"Name of the file to read",
false,
"",
"string");
command.add (fileName);
/* Parse the command line arguments */
command.parse (argc, argv);
/* Read in the command line arguments into variables */
bool random_graph = randomSwitch.getValue ();
bool debug = debugSwitch.getValue ();
int k_steps = kSteps.getValue ();
double t_ratio = tRatio.getValue ();
double s_ratio = sRatio.getValue ();
int n_parts = nParts.getValue ();
char* file_type;
char* file_name;
int rand_seed;
int num_vertices;
int num_edges;
double min_weight;
double max_weight;
FILE* input_fp;
FILE* output_fp;
AdjacencyListType adjacency_list;
if (random_graph) {
std::cout << "Running on a random graph" << std::endl;
rand_seed = rSeed.getValue ();
num_vertices = nVerts.getValue ();
num_edges = nEdges.getValue ();
min_weight = minWeight.getValue ();
max_weight = maxWeight.getValue ();
/* Check the number of edges input */
if (num_edges > (num_vertices*(num_vertices-1))) {
fprintf (stderr, "A graph with %d vertices cannot have %d edges\n",
num_vertices, num_edges);
exit (1);
} else if (n_parts > (s_ratio*num_vertices*log(num_vertices))) {
fprintf (stderr, "Asking for too many partitions\n");
exit (1);
} else if (num_edges&0x1) {
fprintf (stderr, "Currently, we only deal with even number of edges.\
In other words, we only compute on symmetric graphs without self-loops.\n");
exit (1);
}
/* Read in the graph */
const bool is_erdos = isErdos.getValue ();
if (is_erdos)
gen_erdos_renyi (num_vertices,
num_edges,
rand_seed,
false, /* no self-loop */
true, /* symmetric */
min_weight,
max_weight,
adjacency_list);
else
gen_rmat (num_vertices,
num_edges,
rand_seed,
false, /* no self-loop */
true, /* symmetric */
min_weight,
max_weight,
adjacency_list);
} else {
// ======================================================================
// main() of rawlog-edit
// ======================================================================
int main(int argc, char **argv)
{
vector<TCLAP::Arg*> arg_ops; // to be destroyed on exit.
int ret_val = 0;
try
{
// --------------- List of possible operations ---------------
map<string,TOperationFunctor> ops_functors;
arg_ops.push_back(new TCLAP::SwitchArg("","externalize",
"Op: convert to external storage.\n"
"Requires: -o (or --output)\n"
"Optional: --image-format, --txt-externals",cmd, false) );
ops_functors["externalize"] = &op_externalize;
arg_ops.push_back(new TCLAP::SwitchArg("","info",
"Op: parse input file and dump information and statistics.",cmd, false) );
ops_functors["info"] = &op_info;
arg_ops.push_back(new TCLAP::SwitchArg("","list-images",
"Op: dump a list of all external image files in the dataset.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-images"] = &op_list_images;
arg_ops.push_back(new TCLAP::SwitchArg("","list-poses",
"Op: dump a list of all the poses of the observations in the dataset.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-poses"] = &op_list_poses;
arg_ops.push_back(new TCLAP::SwitchArg("","list-timestamps",
"Op: generates a list with all the observations' timestamp, sensor label and C++ class name.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-timestamps"] = &op_list_timestamps;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remap-timestamps",
"Op: Change all timestamps t replacing it with the linear map 'a*t+b'."
"The parameters 'a' and 'b' must be given separated with a semicolon.\n"
"Requires: -o (or --output)",false,"","a;b",cmd) );
ops_functors["remap-timestamps"] = &op_remap_timestamps;
arg_ops.push_back(new TCLAP::SwitchArg("","list-range-bearing",
"Op: dump a list of all landmark observations of type range-bearing.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-range-bearing"] = &op_list_rangebearing;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remove-label",
"Op: Remove all observation matching the given sensor label(s)."
"Several labels can be provided separated by commas.\n"
"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
ops_functors["remove-label"] = &op_remove_label;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","keep-label",
"Op: Remove all observations not matching the given sensor label(s)."
"Several labels can be provided separated by commas.\n"
"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
ops_functors["keep-label"] = &op_keep_label;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-kml",
"Op: Export GPS paths to Google Earth KML files.\n"
"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
"The generated .kml files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-gps-kml"] = &op_export_gps_kml;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-gas-kml",
"Op: Export GPS paths to Google Earth KML files coloured by the gas concentration.\n"
"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
"The generated .kml files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-gps-gas-kml"] = &op_export_gps_gas_kml;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-txt",
"Op: Export GPS GPGGA messages to TXT files.\n"
"Generates one .txt file for each different sensor label of GPS observations in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-gps-txt"] = &op_export_gps_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-all",
"Op: Generic export all kinds of GPS/GNSS messages to separate TXT files.\n"
"Generates one .txt file for each different sensor label and for each "
"message type in the dataset, with a first header line describing each field."
,cmd,false) );
ops_functors["export-gps-all"] = &op_export_gps_all;
arg_ops.push_back(new TCLAP::SwitchArg("","export-imu-txt",
"Op: Export IMU readings to TXT files.\n"
"Generates one .txt file for each different sensor label of an IMU observation in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-imu-txt"] = &op_export_imu_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","export-odometry-txt",
"Op: Export absolute odometry readings to TXT files.\n"
"Generates one .txt file for each different sensor label of an odometry observation in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-odometry-txt"] = &op_export_odometry_txt;
arg_ops.push_back(new TCLAP::SwitchArg("", "export-enose-txt",
"Op: Export e-nose readigns to TXT files.\n"
"Generates one .txt file for each different sensor label of an e-nose observation in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
, cmd, false));
ops_functors["export-enose-txt"] = &op_export_enose_txt;
arg_ops.push_back(new TCLAP::SwitchArg("", "export-anemometer-txt",
"Op: Export anemometer readigns to TXT files.\n"
"Generates one .txt file for each different sensor label of an anemometer observation in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
, cmd, false));
ops_functors["export-anemometer-txt"] = &op_export_anemometer_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","recalc-odometry",
"Op: Recomputes odometry increments from new encoder-to-odometry constants.\n"
"Requires: -o (or --output)\n"
"Requires: --odo-KL, --odo-KR and --odo-D.\n"
,cmd,false) );
ops_functors["recalc-odometry"] = &op_recalc_odometry;
arg_ops.push_back(new TCLAP::SwitchArg("","export-rawdaq-txt",
"Op: Export raw DAQ readings to TXT files.\n"
"Generates one .txt file for each different sensor label + DAQ task. "
"The generated .txt files will be saved in the same path than the input rawlog."
,cmd,false) );
ops_functors["export-rawdaq-txt"] = &op_export_rawdaq_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","export-2d-scans-txt",
"Op: Export 2D scans to TXT files.\n"
"Generates two .txt files for each different sensor label of 2D scan observations, one with "
"the timestamps and the other with range data.\n"
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-2d-scans-txt"] = &op_export_2d_scans_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","cut",
"Op: Cut a part of the input rawlog.\n"
"Requires: -o (or --output)\n"
"Requires: At least one of --from-index, --from-time, --to-index, --to-time. Use only one of the --from-* and --to-* at once.\n"
"If only a --from-* is given, the rawlog will be saved up to its end. If only a --to-* is given, the rawlog will be saved from its beginning.\n"
,cmd,false) );
ops_functors["cut"] = &op_cut;
arg_ops.push_back(new TCLAP::SwitchArg("","generate-3d-pointclouds",
"Op: (re)generate the 3D pointclouds within CObservation3DRangeScan objects that have range data.\n"
"Requires: -o (or --output)\n"
,cmd,false));
ops_functors["generate-3d-pointclouds"] = &op_generate_3d_pointclouds;
arg_ops.push_back(new TCLAP::SwitchArg("","generate-pcd",
"Op: Generate a PointCloud Library (PCL) PCD file with the point cloud for each sensor observation that can be converted into"
" this representation: laser scans, 3D camera images, etc.\n"
"Optional: --out-dir to change the output directory (default: \"./\")\n"
,cmd,false));
ops_functors["generate-pcd"] = &op_generate_pcd;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","sensors-pose",
"Op: batch change the poses of sensors from a rawlog-grabber-like configuration file that specifies the pose of sensors by their sensorLabel names.\n"
"Requires: -o (or --output)\n",
false,"","file.ini",cmd) );
ops_functors["sensors-pose"] = &op_sensors_pose;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","camera-params",
"Op: change the camera parameters of all CObservationImage's with the given SENSOR_LABEL, with new params loaded from the given file, section '[CAMERA_PARAMS]' "
"for monocular cameras, or '[CAMERA_PARAMS_LEFT]' and '[CAMERA_PARAMS_RIGHT]' for stereo.\n"
"Requires: -o (or --output)\n"
,false,"","SENSOR_LABEL,file.ini",cmd) );
ops_functors["camera-params"] = &op_camera_params;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","stereo-rectify",
"Op: creates a new set of external images for all CObservationStereoImages with the given SENSOR_LABEL, using the camera parameters stored in the "
"observations (which must be a valid calibration) and with the given alpha value. Alpha can be -1 for auto, or otherwise be in the range [0,1] (see OpenCV's docs for cvStereoRectify).\n"
"Requires: -o (or --output)\n"
"Optional: --image-format to set image format (default=jpg), \n"
" --image-size to resize output images (example: --image-size 640x480) \n"
,false,"","SENSOR_LABEL,0.5",cmd) );
ops_functors["stereo-rectify"] = &op_stereo_rectify;
arg_ops.push_back(new TCLAP::SwitchArg("","rename-externals",
"Op: Renames all the external storage file names within the rawlog (it doesn't change the external files, which may even not exist).\n"
,cmd,false));
ops_functors["rename-externals"] = &op_rename_externals;
// --------------- End of list of possible operations --------
// Parse arguments:
if (!cmd.parse( argc, argv ))
throw std::runtime_error(""); // should exit.
string input_rawlog = arg_input_file.getValue();
const bool verbose = !arg_quiet.getValue();
// Check the selected operation:
// Only one of the ops should be selected:
string selected_op;
for (size_t i=0;i<arg_ops.size();i++)
if (arg_ops[i]->isSet())
{
if (selected_op.empty())
{
selected_op = arg_ops[i]->getName();
}
else throw std::runtime_error(
"Exactly one operation must be indicated on command line.\n"
"Use --help to see the list of possible operations.");
}
if (selected_op.empty())
{
throw std::runtime_error(
"Don't know what to do: No operation was indicated.\n"
"Use --help to see the list of possible operations.");
}
VERBOSE_COUT << "Operation to perform: " << selected_op << endl;
// This will be done for any operation: open the input rawlog
// ------------------------------------------------------------
if (!mrpt::system::fileExists(input_rawlog))
throw runtime_error(format("Input file doesn't exist: '%s'",input_rawlog.c_str()));
// Open input rawlog:
CFileGZInputStream fil_input;
VERBOSE_COUT << "Opening '" << input_rawlog << "'...\n";
fil_input.open(input_rawlog);
VERBOSE_COUT << "Open OK.\n";
// External storage directory?
CImage::IMAGES_PATH_BASE = CRawlog::detectImagesDirectory(input_rawlog);
if (mrpt::system::directoryExists(CImage::IMAGES_PATH_BASE)) {
VERBOSE_COUT << "Found external storage directory: " << CImage::IMAGES_PATH_BASE << "\n";
}
else {
VERBOSE_COUT << "Warning: No external storage directory was found (not an issue if the rawlog does not contain delayed-load images).\n";
}
// ------------------------------------
// EXECUTE THE REQUESTED OPERATION
// ------------------------------------
ASSERTMSG_(ops_functors.find(selected_op)!=ops_functors.end(), "Internal error: Unknown operation functor!")
// Call the selected functor:
ops_functors[selected_op](fil_input,cmd,verbose);
// successful end of program.
ret_val = 0;
}
catch(std::exception &e)
{
if (strlen(e.what())) std::cerr << e.what() << std::endl;
ret_val = -1;
}
// Free mem:
for (size_t i=0;i<arg_ops.size();i++)
delete arg_ops[i];
// end:
return ret_val;
} // end of main()
int main(int argc, char* argv[])
{
try
{
// init comandline parser
TCLAP::CmdLine cmd("Command description message", ' ', "1.0");
TCLAP::ValueArg<string> argOutputFile ("o", "output", "Output file", true, "", "string");
TCLAP::ValueArg<string> argFilter ("f", "filter", "Filter files according to pattern", false, ".SIFTComparison.feat.xml.gz","string");
TCLAP::ValueArg<int> argPRECLUSTER ("p", "precluster", "Number of descriptors to select in precluster-preprocessing (0 = no preclustering)",false,0 ,"int");
TCLAP::ValueArg<int> argBOWSIZE ("b", "bowsize", "Size of the BoW Dictionary", false, 1000, "int");
TCLAP::SwitchArg argBinaryInput ("i", "binary", "Read descriptors from binary archives", false);
TCLAP::SwitchArg argVerbose ("v", "verbose", "Provide additional debugging output", false);
TCLAP::UnlabeledValueArg<string> dirArg ( "directory", "Directory containing files with extracted features", true, "directory","string");
cmd.add( argOutputFile );
cmd.add( argFilter );
cmd.add( argPRECLUSTER );
cmd.add( argBOWSIZE );
cmd.add( argBinaryInput );
cmd.add( argVerbose );
cmd.add( dirArg );
// parse arguments
cmd.parse( argc, argv );
// enable/disable verbose output
VerboseOutput::verbose = argVerbose.getValue();
VerboseOutput::println(string("train"), "Create BoW of size %d", argBOWSIZE.getValue());
TermCriteria tcrit;
tcrit.epsilon = 10;
tcrit.maxCount = 10;
tcrit.type = 1;
BOWKMeansTrainer bowtrainer(argBOWSIZE.getValue(),tcrit,1,KMEANS_PP_CENTERS);
VerboseOutput::println(string("train"), "Creating Visual Bag of Words");
string filter = argFilter.getValue();
if (argBinaryInput.getValue())
{
filter = ".SIFTComparison.descriptors.dat";
}
vector<string> files = getdir(dirArg.getValue(), filter);
int i = 1;
VerboseOutput::println(string("train"), "Reading features of directory '%s'", dirArg.getValue().c_str());
for (vector<string>::iterator filename = files.begin(); filename!=files.end(); ++filename)
{
VerboseOutput::println("train", "[%i of %i in directory '%s']", i++, files.size(), dirArg.getValue().c_str());
Mat descriptors;
stringstream filePathss;
filePathss << dirArg.getValue() << "/" << *filename;
string filePath = filePathss.str();
VerboseOutput::println(string("train"), string("processing file '" + filePath + "'"));
if (argBinaryInput.getValue())
{
loadDescriptorsFromBinaryArchives(descriptors, filePath);
}
else
{
loadDescriptorsFromOpenCVFilestorage(descriptors, filePath);
}
if ((descriptors.rows == 0) || (descriptors.cols == 0))
{
throw runtime_error("No Descriptors read for file: ");
}
VerboseOutput::println(string("train"), "%i descriptors loaded", descriptors.rows);
if ((argPRECLUSTER.getValue() > 0) && (argPRECLUSTER.getValue() < descriptors.rows - 100))
{
VerboseOutput::println(string("train"), string("pre-clustering"));
Mat labels;
Mat centers;
kmeans(descriptors,argPRECLUSTER.getValue(),labels,tcrit,1, KMEANS_PP_CENTERS, centers);
VerboseOutput::println(string("train"), "...add cluster centers of pre-clustering to bow");
bowtrainer.add(centers);
}
else
{
VerboseOutput::println(string("train"), "...add descriptors to bow");
bowtrainer.add(descriptors);
}
VerboseOutput::println(string("train"), "...current bow-size: %i", bowtrainer.descripotorsCount());
}
// calculate vocabulary
VerboseOutput::println(string("train"), string("Creating Vocabulary"));
if (bowtrainer.descripotorsCount() <= argBOWSIZE.getValue())
{
throw runtime_error("BoW size higher than number of loaded descriptors!");
}
Mat vocab = bowtrainer.cluster();
// output results to file
VerboseOutput::println(string("train"), string("Storing BoW to File"));
writeVocabularyToFile(vocab, argOutputFile.getValue());
VerboseOutput::println(string("train"), string("Finished"));
}
catch (exception &e) // catch any exceptions
{
cout << "\n";
cout << "*** Training aborted!\n";
cout << " Reason: " << e.what() << "\n\n";
exit(1);
}
return 0;
}
// ======================================================================
// main() of graph-slam
// ======================================================================
int main(int argc, char **argv)
{
vector<TCLAP::Arg*> arg_ops; // to be destroyed on exit.
int ret_val = 0;
try
{
// --------------- List of possible operations ---------------
map<string,TOperationFunctor> ops_functors;
arg_ops.push_back(new TCLAP::SwitchArg("","levmarq",
"Op: Optimizes the graph with sparse Levenberg-Marquartd using global coordinates (via mrpt::graphslam::optimize_graph_spa_levmarq).\n"
" Can be used together with: --view, --output, --max-iters, --no-span, --initial-lambda"
,cmd, false) );
ops_functors["levmarq"] = &op_levmarq;
arg_ops.push_back(new TCLAP::SwitchArg("","dijkstra",
"Op: Executes CNetworkOfPoses::dijkstra_nodes_estimate() to estimate the global pose of nodes from a Dijkstra tree and the edge relative poses.\n"
" Can be used together with: --view, --output"
,cmd, false) );
ops_functors["dijkstra"] = &op_dijkstra;
arg_ops.push_back(new TCLAP::SwitchArg("","info",
"Op: Loads the graph and displays statistics and information on it.\n"
,cmd, false) );
ops_functors["info"] = &op_info;
// --------------- End of list of possible operations --------
// Parse arguments:
if (!cmd.parse( argc, argv ))
throw std::runtime_error(""); // should exit.
// Exactly 1 or --2d & --3d must be specified:
if ( (arg_2d.isSet() && arg_3d.isSet()) || (!arg_2d.isSet() && !arg_3d.isSet()) )
throw std::runtime_error("Exactly one --2d or --3d must be used.");
const bool is3d = arg_3d.isSet();
string input_file = arg_input_file.getValue();
const bool verbose = !arg_quiet.getValue();
// Check the selected operation:
// Only one of the ops should be selected:
string selected_op;
for (size_t i=0;i<arg_ops.size();i++)
if (arg_ops[i]->isSet())
{
if (selected_op.empty())
{
selected_op = arg_ops[i]->getName();
}
else throw std::runtime_error(
"Exactly one operation must be indicated on command line.\n"
"Use --help to see the list of possible operations.");
}
// The "--view" argument needs a bit special treatment:
if (selected_op.empty())
{
if (!arg_view.isSet())
throw std::runtime_error(
"Don't know what to do: No operation was indicated.\n"
"Use --help to see the list of possible operations.");
else
{
VERBOSE_COUT << "Operation to perform: " "view" << endl;
op_view(input_file,is3d,cmd,verbose);
}
}
else
{
VERBOSE_COUT << "Operation to perform: " << selected_op << endl;
// ------------------------------------
// EXECUTE THE REQUESTED OPERATION
// ------------------------------------
ASSERTMSG_(ops_functors.find(selected_op)!=ops_functors.end(), "Internal error: Unknown operation functor!")
// Call the selected functor:
ops_functors[selected_op](input_file,is3d,cmd,verbose);
}
// successful end of program.
ret_val = 0;
}
catch(std::exception &e)
{
if (strlen(e.what())) std::cerr << e.what() << std::endl;
ret_val = -1;
}
// Free mem:
for (size_t i=0;i<arg_ops.size();i++)
delete arg_ops[i];
// end:
return ret_val;
}
void execGraphSlamEngine(mrpt::system::COutputLogger* logger)
{
// Instance for managing the available graphslam deciders optimizers
TUserOptionsChecker<GRAPH_T> options_checker;
options_checker.createDeciderOptimizerMappings();
options_checker.populateDeciderOptimizerProperties();
// fetch the command line options
// ////////////////////////////////////////////////////////////
// decide whether to display the help messages for the deciders/optimizers
{
bool list_registrars = false;
if (list_all_registrars.getValue())
{
options_checker.dumpRegistrarsToConsole("all");
list_registrars = true;
}
if (list_node_registrars.getValue())
{
options_checker.dumpRegistrarsToConsole("node");
list_registrars = true;
}
if (list_edge_registrars.getValue())
{
options_checker.dumpRegistrarsToConsole("edge");
list_registrars = true;
}
if (list_optimizers.getValue())
{
options_checker.dumpOptimizersToConsole();
}
if (list_registrars || list_optimizers.getValue())
{
logger->logFmt(LVL_INFO, "Exiting.. ");
return;
}
}
// fetch the filenames
// ini file
string ini_fname = arg_ini_file.getValue();
// rawlog file
string rawlog_fname = arg_rawlog_file.getValue();
// ground-truth file
string ground_truth_fname;
if (arg_ground_truth_file.isSet())
{
ground_truth_fname = arg_ground_truth_file.getValue();
}
if (disable_visuals.getValue())
{ // enabling Visualization objects
logger->logFmt(LVL_WARN, "Running on headless mode - Visuals disabled");
}
// fetch which registration deciders / optimizer to use
string node_reg = arg_node_reg.getValue();
string edge_reg = arg_edge_reg.getValue();
string optimizer = arg_optimizer.getValue();
logger->logFmt(LVL_INFO, "Node registration decider: %s", node_reg.c_str());
logger->logFmt(LVL_INFO, "Edge registration decider: %s", edge_reg.c_str());
logger->logFmt(LVL_INFO, "graphSLAM Optimizer: %s", optimizer.c_str());
// CGraphSlamHandler initialization
CGraphSlamHandler<GRAPH_T> graphslam_handler(
logger, &options_checker, !disable_visuals.getValue());
graphslam_handler.setFNames(ini_fname, rawlog_fname, ground_truth_fname);
graphslam_handler.initEngine(node_reg, edge_reg, optimizer);
graphslam_handler.printParams();
graphslam_handler.execute();
}
// Main
// ////////////////////////////////////////////////////////////
int main(int argc, char **argv)
{
// initializign the logger instance
COutputLogger logger("graphslam-engine_app");
logger.logging_enable_keep_record = true;
try {
bool showHelp = argc>1 && !os::_strcmp(argv[1],"--help");
bool showVersion = argc>1 && !os::_strcmp(argv[1],"--version");
// Instance for managing the available graphslam deciders optimizers
TUserOptionsChecker graphslam_opts;
// Input Validation
if (!cmd_line.parse( argc, argv ) || showVersion || showHelp) {
return 0;
}
// fetch the command line graphslam_opts
// ////////////////////////////////////////////////////////////
// decide whether to display the help messages for the deciders/optimizers
{
bool list_registrars = false;
if (list_all_registrars.getValue()) {
graphslam_opts.dumpRegistrarsToConsole("all");
list_registrars = true;
}
if (list_node_registrars.getValue()) {
graphslam_opts.dumpRegistrarsToConsole("node");
list_registrars = true;
}
if (list_edge_registrars.getValue()) {
graphslam_opts.dumpRegistrarsToConsole("edge");
list_registrars = true;
}
if (list_optimizers.getValue()) {
graphslam_opts.dumpOptimizersToConsole();
}
if (list_registrars || list_optimizers.getValue()) {
logger.logFmt(LVL_INFO, "Exiting.. ");
return 0;
}
}
// fetch which registration deciders / optimizer to use
string node_reg = arg_node_reg.getValue();
string edge_reg = arg_edge_reg.getValue();
string optimizer = arg_optimizer.getValue();
ASSERTMSG_(graphslam_opts.checkRegistrationDeciderExists(node_reg, "node"),
format("\nNode Registration Decider %s is not available.\n",
node_reg.c_str()) );
ASSERTMSG_(graphslam_opts.checkRegistrationDeciderExists(edge_reg, "edge"),
format("\nEdge Registration Decider %s is not available.\n",
edge_reg.c_str()) );
ASSERTMSG_(graphslam_opts.checkOptimizerExists(optimizer),
format("\nOptimizer %s is not available\n",
optimizer.c_str()) );
// fetch the filenames
// ini file
string ini_fname = arg_ini_file.getValue();
// rawlog file
string rawlog_fname = arg_rawlog_file.getValue();
// ground-truth file
string ground_truth_fname;
if ( arg_ground_truth_file.isSet() ) {
ground_truth_fname = arg_ground_truth_file.getValue();
}
if (disable_visuals.getValue()) { // enabling Visualization objects
logger.logFmt(LVL_WARN, "Running on headless mode - Visuals disabled");
}
logger.logFmt(LVL_INFO, "Node registration decider: %s", node_reg.c_str());
logger.logFmt(LVL_INFO, "Edge registration decider: %s", edge_reg.c_str());
logger.logFmt(LVL_INFO, "graphSLAM Optimizer: %s", optimizer.c_str());
// CGraphSlamHandler initialization
CGraphSlamHandler graphslam_handler;
graphslam_handler.setOutputLoggerPtr(&logger);
graphslam_handler.readConfigFname(ini_fname);
graphslam_handler.setRawlogFname(rawlog_fname);
// Visuals initialization
if (!disable_visuals.getValue()) {
graphslam_handler.initVisualization();
}
// CGraphSlamEngine initialization
CGraphSlamEngine<CNetworkOfPoses2DInf> graphslam_engine(
ini_fname,
rawlog_fname,
ground_truth_fname,
graphslam_handler.win_manager,
graphslam_opts.node_regs_map[node_reg](),
graphslam_opts.edge_regs_map[edge_reg](),
graphslam_opts.optimizers_map[optimizer]());
// print the problem parameters
graphslam_handler.printParams();
graphslam_engine.printParams();
// Variables initialization
CFileGZInputStream rawlog_stream(rawlog_fname);
CActionCollectionPtr action;
CSensoryFramePtr observations;
CObservationPtr observation;
size_t curr_rawlog_entry;
// Read the dataset and pass the measurements to CGraphSlamEngine
bool cont_exec = true;
while (CRawlog::getActionObservationPairOrObservation(
rawlog_stream,
action,
observations,
observation,
curr_rawlog_entry) && cont_exec) {
// actual call to the graphSLAM execution method
// Exit if user pressed C-c
cont_exec = graphslam_engine.execGraphSlamStep(
action,
observations,
observation,
curr_rawlog_entry);
}
logger.logFmt(LVL_WARN, "Finished graphslam execution.");
//
// Postprocessing
//
logger.logFmt(LVL_INFO, "Generating overall report...");
graphslam_engine.generateReportFiles(graphslam_handler.output_dir_fname);
// save the graph and the 3DScene
if (graphslam_handler.save_graph) {
std::string save_graph_fname =
graphslam_handler.output_dir_fname +
"/" +
graphslam_handler.save_graph_fname;
graphslam_engine.saveGraph(&save_graph_fname);
}
if (!disable_visuals.getValue() && graphslam_handler.save_3DScene) {
std::string save_3DScene_fname =
graphslam_handler.output_dir_fname +
"/" +
graphslam_handler.save_3DScene_fname;
graphslam_engine.save3DScene(&save_3DScene_fname);
}
// get the occupancy gridmap that was built
if (graphslam_handler.save_gridmap) {
COccupancyGridMap2D gridmap;
graphslam_engine.getOccupancyGridMap2D(&gridmap);
gridmap.saveMetricMapRepresentationToFile(
graphslam_handler.output_dir_fname +
"/" +
graphslam_handler.save_gridmap_fname);
}
////////////////////////////////////////////////////////////////////////
}
catch (exception& e) {
logger.logFmt(LVL_ERROR, "Program finished for an exception!!\n%s\n",
e.what());
mrpt::system::pause();
return -1;
}
catch (...) {
logger.logFmt(LVL_ERROR, "Program finished for an untyped exception!!");
mrpt::system::pause();
return -1;
}
return 0;
}
// -----------------------------------------------
// MAIN
// -----------------------------------------------
int main(int argc, char** argv)
{
try
{
// Parse arguments:
if (!cmd.parse(argc, argv))
throw std::runtime_error(""); // should exit.
const string input_log = arg_input_file.getValue();
const string output_file = arg_output_file.getValue();
const bool verbose = !arg_quiet.getValue();
const bool overwrite = arg_overwrite.getValue();
const int compress_level = arg_gz_level.getValue();
// Check files:
if (!mrpt::system::fileExists(input_log))
throw runtime_error(
format("Input file doesn't exist: '%s'", input_log.c_str()));
if (mrpt::system::fileExists(output_file) && !overwrite)
throw runtime_error(format(
"Output file already exist: '%s' (Use --overwrite to "
"override)",
output_file.c_str()));
VERBOSE_COUT << "Input log : " << input_log << endl;
VERBOSE_COUT << "Output map file : " << output_file
<< " (Compression level: " << compress_level << ")\n";
// Open I/O streams:
std::ifstream input_stream(input_log.c_str());
if (!input_stream.is_open())
throw runtime_error(
format("Error opening for read: '%s'", input_log.c_str()));
// --------------------------------
// The main loop
// --------------------------------
vector<CObservation::Ptr> importedObservations;
mrpt::maps::CSimpleMap theSimpleMap;
const mrpt::system::TTimeStamp base_timestamp = mrpt::system::now();
const uint64_t totalInFileSize = mrpt::system::getFileSize(input_log);
int decimateUpdateConsole = 0;
while (carmen_log_parse_line(
input_stream, importedObservations, base_timestamp))
{
CPose2D gt_pose;
bool has_gt_pose = false;
for (size_t i = 0; i < importedObservations.size(); i++)
{
// If we have an "odometry" observation but it's not alone, it's
// probably
// a "corrected" odometry from some SLAM program, so save it as
// ground truth:
if (importedObservations.size() > 1 &&
IS_CLASS(importedObservations[i], CObservationOdometry))
{
CObservationOdometry::Ptr odo =
std::dynamic_pointer_cast<CObservationOdometry>(
importedObservations[i]);
gt_pose = odo->odometry;
has_gt_pose = true;
break;
}
}
// Only if we have a valid pose, save it to the simple map:
if (has_gt_pose)
{
CSensoryFrame::Ptr SF =
mrpt::make_aligned_shared<CSensoryFrame>();
for (const auto& importedObservation : importedObservations)
{
if (!IS_CLASS(
importedObservation,
CObservationOdometry)) // Odometry was already used
// as positioning...
{
SF->insert(importedObservation);
}
}
// Insert (observations, pose) pair:
CPosePDFGaussian::Ptr pos =
mrpt::make_aligned_shared<CPosePDFGaussian>();
pos->mean = gt_pose;
theSimpleMap.insert(pos, SF);
}
// Update progress in the console:
// ----------------------------------
if (verbose && ++decimateUpdateConsole > 10)
{
decimateUpdateConsole = 0;
const std::streampos curPos = input_stream.tellg();
const double progress_ratio =
double(curPos) / double(totalInFileSize);
static const int nBlocksTotal = 50;
const int nBlocks = progress_ratio * nBlocksTotal;
cout << "\rProgress: [" << string(nBlocks, '#')
<< string(nBlocksTotal - nBlocks, ' ')
<< format(
"] %6.02f%% (%u frames)", progress_ratio * 100,
static_cast<unsigned int>(theSimpleMap.size()));
cout.flush();
}
};
cout << "\n";
// Save final map object:
{
mrpt::io::CFileGZOutputStream out_map;
if (!out_map.open(output_file, compress_level))
throw runtime_error(format(
"Error opening for write: '%s'", output_file.c_str()));
cout << "Dumping simplemap object to file...";
cout.flush();
mrpt::serialization::archiveFrom(out_map) << theSimpleMap;
cout << "Done\n";
cout.flush();
}
// successful end of program.
return 0;
}
catch (const std::exception& e)
{
std::cerr << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
int main(int argc, char **argv) {
try {
TCLAP::CmdLine cmd("CEVAL Algorithm", ' ', "0.1");
cmd.add(poly);
cmd.add(x_min);
cmd.add(x_max);
cmd.add(y_min);
cmd.add(y_max);
cmd.add(use_rb);
cmd.add(display);
cmd.add(no_use_inclusion);
cmd.add(min_box_size);
cmd.add(max_box_size);
cmd.add(random_poly);
cmd.add(rand_degree);
cmd.add(rand_seed);
// Parse the args.
cmd.parse(argc, argv);
// Get the value parsed by each arg.
//string name = nameArg.getValue();
} catch (TCLAP::ArgException &e) {
cerr << "Error : " << e.error() << endl;
cerr << "Processing arg : " << e.argId() << endl;
return -1;
}
Polynomial<PolyType> a;
if (random_poly.getValue()) {
benchmark::GenerateRandom(&a, rand_degree.getValue(), 10 ,rand_seed.getValue());
} else {
benchmark::GetPoly(poly.getValue().c_str(), &a);
}
double max_box_size_d(max_box_size.getValue());
double min_box_size_d(min_box_size.getValue());
Complex min, max;
if (use_rb.getValue()) {
double min_r, max_r;
benchmark::GetRootBounds(a, &min_r, &max_r);
min = Complex(min_r, min_r);
max = Complex(max_r, max_r);
if (display.getValue()) {
cout << "Min : " << min << ",Max : " << max << endl;
}
} else {
double x_min_d(x_min.getValue()), x_max_d(x_max.getValue());
double y_min_d(y_min.getValue()), y_max_d(y_max.getValue());
min = Complex(x_min_d, y_min_d);
max = Complex(x_max_d, y_max_d);
}
Box *b = new Box(min, max);
Box *b_copy = new Box(min, max);
// start timing code.
struct timeval start;
struct timeval end;
gettimeofday(&start, NULL);
// end timing code.
Predicates p(a);
Algorithm algo(p, b, min_box_size_d, !no_use_inclusion.getValue(), display.getValue());
algo.Run();
if (no_use_inclusion.getValue()) {
algo.AttemptIsolation();
}
// start timing code.
gettimeofday(&end, NULL);
cout << ",time=" <<
(end.tv_sec - start.tv_sec)*1000000 + (end.tv_usec - start.tv_usec);
if (display.getValue()) {
cout << "Operated on Bounding box : " << min << "," << max << endl;
cout << "With polynomial : " << endl;
//a.dump();
cout << endl;
cout << "--------------------------" << endl;
cout << "Number of roots:" << algo.output()->size() << endl;
list<const Disk *>::const_iterator it = algo.output()->begin();
while (it != algo.output()->end()) {
cout << "m= " << (*it)->centre << ", r= " << (*it)->radius << endl;
++it;
}
display_funcs::SetDisplayParams(b_copy, algo.reject(), algo.output_boxes(),
algo.ambiguous());
startGlutLoop(argc, argv);
} else {
cout << ",output=" << algo.output()->size() << endl;
}
}
static std::unique_ptr<cMemorySettingsRepository> ParseArguments(int argc, char ** argv)
{
try
{
// Parse the comand line args:
TCLAP::CmdLine cmd("Cuberite");
TCLAP::ValueArg<int> slotsArg ("s", "max-players", "Maximum number of slots for the server to use, overrides setting in setting.ini", false, -1, "number", cmd);
TCLAP::MultiArg<int> portsArg ("p", "port", "The port number the server should listen to", false, "port", cmd);
TCLAP::SwitchArg commLogArg ("", "log-comm", "Log server client communications to file", cmd);
TCLAP::SwitchArg commLogInArg ("", "log-comm-in", "Log inbound server client communications to file", cmd);
TCLAP::SwitchArg commLogOutArg ("", "log-comm-out", "Log outbound server client communications to file", cmd);
TCLAP::SwitchArg crashDumpFull ("", "crash-dump-full", "Crashdumps created by the server will contain full server memory", cmd);
TCLAP::SwitchArg crashDumpGlobals("", "crash-dump-globals", "Crashdumps created by the server will contain the global variables' values", cmd);
TCLAP::SwitchArg noBufArg ("", "no-output-buffering", "Disable output buffering", cmd);
TCLAP::SwitchArg runAsServiceArg ("d", "service", "Run as a service on Windows, or daemon on UNIX like systems", cmd);
cmd.parse(argc, argv);
// Copy the parsed args' values into a settings repository:
auto repo = cpp14::make_unique<cMemorySettingsRepository>();
if (slotsArg.isSet())
{
int slots = slotsArg.getValue();
repo->AddValue("Server", "MaxPlayers", static_cast<Int64>(slots));
}
if (portsArg.isSet())
{
for (auto port: portsArg.getValue())
{
repo->AddValue("Server", "Port", static_cast<Int64>(port));
}
}
if (commLogArg.getValue())
{
g_ShouldLogCommIn = true;
g_ShouldLogCommOut = true;
}
else
{
g_ShouldLogCommIn = commLogInArg.getValue();
g_ShouldLogCommOut = commLogOutArg.getValue();
}
if (noBufArg.getValue())
{
setvbuf(stdout, nullptr, _IONBF, 0);
}
repo->SetReadOnly();
// Set the service flag directly to cRoot:
if (runAsServiceArg.getValue())
{
cRoot::m_RunAsService = true;
}
// Apply the CrashDump flags for platforms that support them:
#if defined(_WIN32) && !defined(_WIN64) && defined(_MSC_VER) // 32-bit Windows app compiled in MSVC
if (crashDumpGlobals.getValue())
{
g_DumpFlags = static_cast<MINIDUMP_TYPE>(g_DumpFlags | MiniDumpWithDataSegs);
}
if (crashDumpFull.getValue())
{
g_DumpFlags = static_cast<MINIDUMP_TYPE>(g_DumpFlags | MiniDumpWithFullMemory);
}
#endif // 32-bit Windows app compiled in MSVC
return repo;
}
catch (const TCLAP::ArgException & exc)
{
printf("Error reading command line %s for arg %s", exc.error().c_str(), exc.argId().c_str());
return cpp14::make_unique<cMemorySettingsRepository>();
}
}
// ======================================================================
// main() of rawlog-edit
// ======================================================================
int main(int argc, char **argv)
{
vector<TCLAP::Arg*> arg_ops; // to be destroyed on exit.
int ret_val = 0;
try
{
// --------------- List of possible operations ---------------
map<string,TOperationFunctor> ops_functors;
arg_ops.push_back(new TCLAP::SwitchArg("","externalize",
"Op: convert to external storage.\n"
"Requires: -o (or --output)\n"
"Optional: --image-format",cmd, false) );
ops_functors["externalize"] = &op_externalize;
arg_ops.push_back(new TCLAP::SwitchArg("","info",
"Op: parse input file and dump information and statistics.",cmd, false) );
ops_functors["info"] = &op_info;
arg_ops.push_back(new TCLAP::SwitchArg("","list-images",
"Op: dump a list of all external image files in the dataset.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-images"] = &op_list_images;
arg_ops.push_back(new TCLAP::SwitchArg("","list-range-bearing",
"Op: dump a list of all landmark observations of type range-bearing.\n"
"Optionally the output text file can be changed with --text-file-output."
,cmd, false) );
ops_functors["list-range-bearing"] = &op_list_rangebearing;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remove-label",
"Op: Remove all observation matching the given sensor label(s)."
"Several labels can be provided separated by commas.\n"
"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
ops_functors["remove-label"] = &op_remove_label;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","keep-label",
"Op: Remove all observations not matching the given sensor label(s)."
"Several labels can be provided separated by commas.\n"
"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
ops_functors["keep-label"] = &op_keep_label;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-kml",
"Op: Export GPS paths to Google Earth KML files.\n"
"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
"The generated .kml files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-gps-kml"] = &op_export_gps_kml;
arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-txt",
"Op: Export GPS readings to TXT files.\n"
"Generates one .txt file for each different sensor label of GPS observations in the dataset. "
"The generated .txt files will be saved in the same path than the input rawlog, with the same "
"filename + each sensorLabel."
,cmd,false) );
ops_functors["export-gps-txt"] = &op_export_gps_txt;
arg_ops.push_back(new TCLAP::SwitchArg("","cut",
"Op: Cut a part of the input rawlog.\n"
"Requires: -o (or --output)\n"
"Requires: At least one of --from-index, --from-time, --to-index, --to-time. Use only one of the --from-* and --to-* at once.\n"
"If only a --from-* is given, the rawlog will be saved up to its end. If only a --to-* is given, the rawlog will be saved from its beginning.\n"
,cmd,false) );
ops_functors["cut"] = &op_cut;
arg_ops.push_back(new TCLAP::SwitchArg("","generate-3d-pointclouds",
"Op: (re)generate the 3D pointclouds within CObservation3DRangeScan objects that have range data.\n"
"Requires: -o (or --output)\n"
,cmd,false));
ops_functors["generate-3d-pointclouds"] = &op_generate_3d_pointclouds;
arg_ops.push_back(new TCLAP::SwitchArg("","generate-pcd",
"Op: Generate a PointCloud Library (PCL) PCD file with the point cloud for each sensor observation that can be converted into"
" this representation: laser scans, 3D camera images, etc.\n"
"May use: --out-dir to change the output directory (default: \"./\")\n"
,cmd,false));
ops_functors["generate-pcd"] = &op_generate_pcd;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","sensors-pose",
"Op: batch change the poses of sensors from a rawlog-grabber-like configuration file that specifies the pose of sensors by their sensorLabel names.\n"
"Requires: -o (or --output)\n",
false,"","file.ini",cmd) );
ops_functors["sensors-pose"] = &op_sensors_pose;
arg_ops.push_back(new TCLAP::ValueArg<std::string>("","camera-params",
"Op: change the camera parameters of all CObservationImage's with the given SENSOR_LABEL, with new params loaded from the given file, section '[CAMERA_PARAMS]'.\n"
"Requires: -o (or --output)\n"
,false,"","SENSOR_LABEL,file.ini",cmd) );
ops_functors["camera-params"] = &op_camera_params;
// --------------- End of list of possible operations --------
// Parse arguments:
if (!cmd.parse( argc, argv ))
throw std::runtime_error(""); // should exit.
string input_rawlog = arg_input_file.getValue();
const bool verbose = !arg_quiet.getValue();
// Check the selected operation:
// Only one of the ops should be selected:
string selected_op;
for (size_t i=0;i<arg_ops.size();i++)
if (arg_ops[i]->isSet())
{
if (selected_op.empty())
{
selected_op = arg_ops[i]->getName();
}
else throw std::runtime_error(
"Exactly one operation must be indicated on command line.\n"
"Use --help to see the list of possible operations.");
}
if (selected_op.empty())
{
throw std::runtime_error(
"Don't know what to do: No operation was indicated.\n"
"Use --help to see the list of possible operations.");
}
VERBOSE_COUT << "Operation to perform: " << selected_op << endl;
// This will be done for any operation: open the input rawlog
// ------------------------------------------------------------
if (!mrpt::system::fileExists(input_rawlog))
throw runtime_error(format("Input file doesn't exist: '%s'",input_rawlog.c_str()));
// Open input rawlog:
CFileGZInputStream fil_input;
VERBOSE_COUT << "Opening '" << input_rawlog << "'...\n";
fil_input.open(input_rawlog);
VERBOSE_COUT << "Open OK.\n";
// External storage directory?
CImage::IMAGES_PATH_BASE = CRawlog::detectImagesDirectory(input_rawlog);
if (mrpt::system::directoryExists(CImage::IMAGES_PATH_BASE)) {
VERBOSE_COUT << "Found external storage directory: " << CImage::IMAGES_PATH_BASE << "\n";
}
else {
VERBOSE_COUT << "Warning: No external storage directory was found (not an issue if the rawlog does not contain delayed-load images).\n";
}
// ------------------------------------
// EXECUTE THE REQUESTED OPERATION
// ------------------------------------
ASSERTMSG_(ops_functors.find(selected_op)!=ops_functors.end(), "Internal error: Unknown operation functor!")
// Call the selected functor:
ops_functors[selected_op](fil_input,cmd,verbose);
// successful end of program.
ret_val = 0;
}
catch(std::exception &e)
{
if (strlen(e.what())) std::cerr << e.what() << std::endl;
ret_val = -1;
}
// Free mem:
for (size_t i=0;i<arg_ops.size();i++)
delete arg_ops[i];
// end:
return ret_val;
} // end of main()