int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
/*
struct csm_option* ops = csm_options_allocate(3);
csm_options_double(ops, "scale_deg", &p.scale_deg, 0.0, "Scale factor (degrees) ");
csm_options_int(ops, "neighbours", &p.neighbours, 1, "How many neighbours to consider (regardless of scale).");
if(!csm_options_parse_args(ops, argc, argv)) {
fprintf(stderr, "A simple program for smoothing a sensor scan.\n\nUsage:\n");
csm_options_print_help(ops, stderr);
return -1;
}
*/
/* jj_set_stream(open_file_for_writing("ld_cluster_curv.txt")); */
int errors = 0;
int count = -1;
LDP ld;
while( (ld = ld_read_smart(stdin)) ) {
count++;
if(!ld_valid_fields(ld)) {
sm_error("Invalid laser data (#%d in file)\n", count);
return -1;
}
ld_cluster_curv(ld);
ld_write_as_json(ld, stdout);
ld_free(ld);
}
return errors;
}
int main(int argc, const char * argv[]) {
sm_set_program_name(argv[0]);
int errors = 0;
int count = -1;
LDP ld;
while( (ld = ld_read_smart(stdin)) ) {
count++;
if(!ld_valid_fields(ld)) {
sm_error("Invalid laser data (#%d in file)\n", count);
errors++;
continue;
}
ld_linearize(ld);
ld_write_as_json(ld, stdout);
ld_free(ld);
}
return errors;
}
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;
}
