scanmatch_test.cpp

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#include <cstdlib>
#include <fstream>
#include <iostream>
#include <gmapping/log/carmenconfiguration.h>
#include <gmapping/log/sensorlog.h>
#ifndef _WIN32
  #include <unistd.h>
#endif
#include <gmapping/utils/commandline.h>
#include <gmapping/log/sensorstream.h>
#include "gmapping/scanmatcher/scanmatcherprocessor.h"

using namespace std;
using namespace GMapping;

#define DEBUG cout << __func__
#define MAX_STRING_LENGTH 1024

int main(int argc, const char * const * argv){
        string filename;
        string outfilename;
        double xmin=-100.;
        double ymin=-100.;
        double xmax=100.;
        double ymax=100.;
        double delta=1.;
        double patchDelta=0.1;
        double sigma=0.02;
        double maxrange=81.9;
        double maxUrange=81.9;
        double regscore=1e4;
        double lstep=.05;
        double astep=.05;
        int kernelSize=0;
        int iterations=4;
        double critscore=0.;
        double maxMove=1.;
        bool computeCovariance=false;
        bool readFromStdin=false;
        bool useICP=false;
        double laserx=.0,lasery=.0,lasertheta=.0;
//      bool headingOnly=false;


        if (argc<2){
                cout << "usage main {arglist}" << endl;
                cout << "where the arguments are: " << endl;
                cout << "\t -xmin     <value>" << endl;
                cout << "\t -xmax     <value>" << endl;
                cout << "\t -ymin     <value>" << endl;
                cout << "\t -ymax     <value>" << endl;
                cout << "\t -maxrange <value>   : maxmimum preception range" << endl;
                cout << "\t -delta    <value>   : patch size" << endl;
                cout << "\t -patchDelta <value> : patch cell size" << endl;
                cout << "\t -lstep    <value> : linear serach step" << endl;
                cout << "\t -astep    <value> : ìangular search step" << endl;
                cout << "\t -regscore <value> : registration scan score" << endl;
                cout << "\t -filename <value> : log filename in carmen format" << endl;
                cout << "\t -sigma    <value> : convolution kernel size" << endl;
                cout << "Look the code for discovering another thousand of unuseful parameters" << endl;
                return -1;
        }

        CMD_PARSE_BEGIN(1,argc);
                parseString("-filename",filename);
                parseString("-outfilename",outfilename);
                parseDouble("-xmin",xmin);
                parseDouble("-xmax",xmax);
                parseDouble("-ymin",ymin);
                parseDouble("-ymax",ymax);
                parseDouble("-delta",delta);
                parseDouble("-patchDelta",patchDelta);
                parseDouble("-maxrange",maxrange);
                parseDouble("-maxUrange",maxUrange);
                parseDouble("-regscore",regscore);
                parseDouble("-critscore",critscore);
                parseInt("-kernelSize",kernelSize);
                parseDouble("-sigma",sigma);
                parseInt("-iterations",iterations);
                parseDouble("-lstep",lstep);
                parseDouble("-astep",astep);
                parseDouble("-maxMove",maxMove);
                parseFlag("-computeCovariance",computeCovariance);
                parseFlag("-stdin", readFromStdin);
                parseFlag("-useICP", useICP);
                parseDouble("-laserx",laserx);
                parseDouble("-lasery",lasery);
                parseDouble("-lasertheta",lasertheta);
        CMD_PARSE_END;
        
        if (!filename.size()){
                cout << "no filename specified" << endl;
                return -1;
        }

        ifstream is;
        is.open(filename.c_str());
        if (! is){
                cout << "no file found" << endl;
                return -1;
        }

        
        DEBUG << "scanmatcher processor construction" << endl;
        ScanMatcherProcessor scanmatcher(xmin, ymin, xmax, ymax, delta, patchDelta);
        
        //double range, double sigma, int kernsize, double lopt, double aopt, int iterations
        scanmatcher.setMatchingParameters(maxUrange, maxrange, sigma, kernelSize, lstep, astep, iterations, computeCovariance);
        scanmatcher.setRegistrationParameters(regscore, critscore);
        scanmatcher.setmaxMove(maxMove);
        scanmatcher.useICP=useICP;
        scanmatcher.matcher().setlaserPose(OrientedPoint(laserx,lasery,lasertheta));
        
        CarmenConfiguration conf;
        conf.load(is);
        is.close();

        SensorMap sensorMap=conf.computeSensorMap();
        scanmatcher.setSensorMap(sensorMap);
        
        InputSensorStream* input=0;
        
        ifstream plainStream;
        if (! readFromStdin){
                plainStream.open(filename.c_str());
                input=new InputSensorStream(sensorMap, plainStream);
                cout << "Plain Stream opened="<< (bool) plainStream << endl;
        } else {
                input=new InputSensorStream(sensorMap, cin);
                cout << "Plain Stream opened on stdin" << endl;
        }

/*      
        SensorLog log(sensorMap);
        ifstream logstream(filename);
        log.load(logstream);
        logstream.close();
        cout << "Log loaded " << log.size() << " records" << endl; 
*/
        ostream* output;
        ofstream poseStream;
        if (! readFromStdin){
                if (! outfilename.size()){
                        outfilename=string("scanmatched")+filename;
                }
                poseStream.open(outfilename.c_str());
                output=&poseStream;
        } else {
                output=&cout;
        }
        scanmatcher.init();
        ofstream odopathStream("odopath.dat");
        while (*input){
                const SensorReading* r;
                (*input) >> r;
                if (! r)
                        continue;
                const RangeReading* rr=dynamic_cast<const RangeReading*>(r);
                if (rr){
                        const RangeSensor* s=dynamic_cast<const RangeSensor*>(r->getSensor());
                        bool isFront= s->getPose().theta==0;
                                
                        if (! readFromStdin){
                                cout << "." << flush;
                        }
                        const RangeSensor* rs=dynamic_cast<const RangeSensor*>(rr->getSensor());
                        assert (rs && rs->beams().size()==rr->size());
                        odopathStream << rr->getPose().x << " " << rr->getPose().y << endl;
                        scanmatcher.processScan(*rr);
                        OrientedPoint p=scanmatcher.getPose();
                        if (isFront)
                                *output << "FLASER "<< rr->size() << " ";
                        else
                                *output << "RLASER "<< rr->size() << " ";
                        for (RangeReading::const_iterator b=rr->begin(); b!=rr->end(); b++){
                                *output << *b << " ";
                        }
                        *output << p.x << " " << p.y << " " << p.theta << " ";
                        //p=rr->getPose();
                        double t=rr->getTime(); //FIXME
                        *output << p.x << " " << p.y << " " << p.theta << " ";
                        *output << t << " nohost " << t <<  endl;
                }
        }
        if (! readFromStdin){
                poseStream.close();
        }
}