ld_remove_doubles.c

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#include <time.h>
 
#include <options/options.h>
 
#include "../csm/csm_all.h"
 
int ld_equal_readings(LDP ld1, LDP ld2, double epsilon);
 
int main(int argc, const char*argv[]) {
        sm_set_program_name(argv[0]);
        
        double epsilon;
        int debug;
        
        
        struct option* ops = options_allocate(3);
        options_double(ops, "epsilon", &epsilon, 0.0001, "minimum difference between rays to be used");
        
        
        if(!options_parse_args(ops, argc, argv)) {
                options_print_help(ops, stderr);
                return -1;
        }
        
        sm_debug_write(debug);
        
        
        /* Read first scan */
        LDP laser_ref=0, laser_sens;
                
        int count = -1; 
        int num_discarded = 0;
        int num_invalid = 0;
        int ref_index = 0;
        
        while( (laser_sens = ld_read_smart(stdin)) ) {
                count++;
                
                if(!ld_valid_fields(laser_sens))  {
                        sm_error("Invalid laser data (#%d in file)\n", count);
                        num_invalid++;
                        continue;
                }
                
                if(!laser_ref) { 
                        laser_ref = laser_sens; 
                        ld_write_as_json(laser_sens, stdout);
                        count++;
                        continue;
                }
                
                if(ld_equal_readings(laser_ref, laser_sens, epsilon)) {
                        sm_debug("Ignoring scan #%d, too similar to #%d.\n", count, ref_index);
                        num_discarded++;
                } else {
                        ld_write_as_json(laser_sens, stdout);
                        ld_free(laser_ref); 
                        laser_ref = laser_sens;
                        ref_index = count;
                }
                
        }
        if(laser_ref) ld_free(laser_ref);
        
        sm_info("#   epsilon: %f m\n", epsilon);
        sm_info("#     scans: %d\n", count);
        if(count>0) {
                sm_info("#   invalid: %d\n", num_invalid);
                sm_info("# discarded: %d (%d%%)\n", num_discarded, num_discarded * 100 / count);
        }
 
        return num_invalid;
}
 
 
 
int ld_equal_readings(LDP ld1, LDP ld2, double epsilon) {
        int i;
        for(i=0;i<ld1->nrays;i++) {
                if(!ld_valid_ray(ld1,i) || !ld_valid_ray(ld2,i)) continue;
                
                if(fabs(ld1->readings[i]-ld2->readings[i]) > epsilon)
                        return 0;
        }
        return 1;
}