gfs2log.cpp

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#include <cstring>
#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <list>
#include <gmapping/utils/point.h>
#include "gmapping/gridfastslam/gfsreader.h"
 
#define MAX_LINE_LENGHT (1000000)
 
using namespace std;
using namespace GMapping;
using namespace GMapping::GFSReader;
 
int main (int argc, const char * const * argv){
        if (argc<3){
                cout << "usage gfs2log [-err] [-neff] [-part] [-odom] <infilename> <outfilename>" << endl;
                cout << "  -odom : dump raw odometry in ODOM message instead of inpolated corrected one" << endl;
                return -1;
        }
        bool err=0;
        bool neff=0;
        bool part=0;
        bool odom=0;
        //      int particle_num;
        unsigned int  c=1;
        if (!strcmp(argv[c],"-err")){
                err=true;
                c++;
        }
        if (!strcmp(argv[c],"-neff")){
                neff=true;
                c++;
        }
        if (!strcmp(argv[c],"-part")){
                part=true;
                c++;
        }
        if (!strcmp(argv[c],"-odom")){
                odom=true;
                c++;
        }
        ifstream is(argv[c]);
        if (!is){
                cout << "could read file "<< endl;
                return -1;
        }
                c++;
        RecordList rl;
        rl.read(is);
        unsigned int bestidx=rl.getBestIdx();
        cout << endl << "best index = " <<  bestidx<< endl;
        ofstream os(argv[c]);
        if (! os){
                cout << "could write file "<< endl;
                return -1;
        }
        rl.printPath(os,bestidx,err,odom);
        if(part)
          rl.printLastParticles(os);
        os.close();
        return 0;
}