map1.cpp

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#include <string.h>
#include "pan.h"
#include <options/options.h>
 
struct myparams {
        const char * file_in;
        const char * file_out;
        const char * file_out_stats;
        const char * file_jj;
        int format;
        
        /* which algorithm to run */
        int algo;
} p;
 
extern "C" void sm_options(struct sm_params*p, struct option*ops);
 
 
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:icp 1:gpm-stripped) ");
        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(&params, ops);
        if(!options_parse_args(ops, argc, argv)) {
                fprintf(stderr, "\n\nUsage:\n");
                options_print_help(ops, stderr);
                return -1;
        }
 
        /* 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);
        
        ld_write_as_json(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 */
                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(&params, &result); break;
                        case(1):
                                sm_gpm(&params, &result); break;
                        default:
                                sm_error("Unknown algorithm to run: %d.\n",p.algo);
                                return -1;
                }
                
                /* Add the result to the previous estimate */
                oplus_d(laser_ref->estimate, result.x, laser_sens->estimate);
 
                /* Write the corrected log */
                ld_write_as_json(laser_sens, file_out);
 
                /* Write the statistics (if required) */
                if(file_out_stats) {
                        JO jo = result_to_json(&params, &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;
}