log2pdf.c

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#include <time.h>
#include <string.h>
 
 
#ifdef LINUX
#include <linux/limits.h>
#endif
 
#include <cairo.h>
#include <cairo-pdf.h>
 
#include <options/options.h>
 
#include "../csm/csm_all.h"
#include "../csm/laser_data_drawing.h"
#include "../csm/laser_data_cairo.h"
 
 
typedef struct {
        const char*use;
        double padding;
        double dimension;
        
        int draw_confidence;
        double confidence_mult;
        
        const char*output_filename;
        const char*input_filename;
 
        ld_reference use_reference;
 
        double offset_theta_deg;
        
        /* Drawing style for scans */
        ld_style laser;
        /* Drawing style for robot path */
        line_style pose_path;
        double start_pose_width;
        
        double distance_xy, distance_th_deg;
} log2pdf_params;
 
int log2pdf(log2pdf_params *p);
 
double offset_theta = 0;
 
const char* banner = 
        "This program draws laser scans.\n"
        "\n"
        "IMPORTANT: it is likely you have to set one or more parameters. \n"
        "           the default parameters are OK to draw very long laser logs\n\n";
        
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 log2pdf(log2pdf_params *p) {
 
        FILE *input_file = open_file_for_reading(p->input_filename);
        if(!input_file) return 0;
        
        LDP*scans; int nscans;
        
        if(!ld_read_some_scans_distance(input_file,  &scans, &nscans,
                 p->use_reference, p->distance_xy, deg2rad(p->distance_th_deg) ) ){
                sm_error("Could not read map from file '%s'.\n", p->input_filename); 
                return 0;
        }
        
        if(nscans == 0) {
                sm_error("I could not read any scan from file '%s'.\n", p->input_filename);
                return 0;
        }
        
        sm_debug("Read map: %d scans in total.\n", nscans);
 
        double bb_min[2], bb_max[2];
        double offset[3] = {0,0,0};
        lda_get_bounding_box(scans, nscans, bb_min, bb_max, offset, p->use_reference, p->laser.horizon);
        
        bb_min[0] -= p->padding;
        bb_min[1] -= p->padding;
        bb_max[0] += p->padding;
        bb_max[1] += p->padding;
        
 
        sm_debug("Bounding box: %f %f -- %f %f.\n", bb_min[0], bb_min[1],
                bb_max[0], bb_max[1]);
 
                
        /* Create PDF surface and setup paper size and transformations */
        int max_width_points = p->dimension;
        int max_height_points = p->dimension;
        cairo_surface_t *surface;
        cairo_t *cr;
 
        if(!create_pdf_surface(p->output_filename, max_width_points, max_height_points, 
                bb_min, bb_max, &surface, &cr)) return 0;
 
        /* Draw pose path */
        if(p->pose_path.draw) {
                cairo_save(cr);
                
                cr_set_style(cr, &(p->pose_path));
                cr_lda_draw_pose_path(cr, scans, nscans, p->use_reference);
 
                if(nscans > 0 && p->laser.pose.draw) {
                        cairo_set_source_rgb(cr, 0.3, 0.0, 1.0);
                        double *pose0 = ld_get_reference_pose(scans[0], p->use_reference);
                        cairo_arc(cr, pose0[0], pose0[1], p->start_pose_width, 0.0, 2*M_PI);
                        cairo_fill(cr);
                }
 
                cairo_restore(cr);
        }
 
        /* Draw map */
        int k; for(k=0;k<nscans;k++) {
                LDP ld = scans[k];
                double *pose = ld_get_reference_pose(ld, p->use_reference);
                if(!pose) continue;
                
                double offset[3] = {0,0, deg2rad(p->offset_theta_deg) };
                double world_pose[3];
                oplus_d(offset, pose, world_pose);
                                
                cairo_save(cr);
                cr_set_reference(cr, world_pose);
                cr_ld_draw(cr, ld, &(p->laser));
                cairo_restore(cr);
        }
 
        cairo_show_page (cr);
 
        cairo_destroy (cr);
        cairo_surface_destroy (surface);
        return 1;
}