rdk2carmen.cpp

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#include <cstdlib>
#include <fstream>
#include <iostream>
#include <gmapping/log/carmenconfiguration.h>
#include <gmapping/log/sensorlog.h>
 
 
using namespace std;
using namespace GMapping;
 
int main(int argc, char ** argv){
        if (argc<2){
                cerr << "usage "<<argv[0]<<" <filename> <outfilename>" << endl;
                cerr << "or "<<argv[0]<<" <filename> for standard output" << endl;
                exit (-1);
        }
        ifstream is(argv[1]);
        if (! is){
                cerr << "no file " << argv[1] << " found" << endl;
                exit (-1);
        }
        ostream *os;
        if (argc<3) 
                os=&cout;
        else{
                os=new ofstream(argv[2]);
                if (! os){
                        cerr << "no file " << argv[1] << " found" << endl;
                        exit (-1);
                }
        }
        CarmenConfiguration conf;
        conf.load(is);
        
        SensorMap m=conf.computeSensorMap();
        
        //for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++)
        //      cout << it->first << " " << it->second->getName() << endl;
        
        SensorLog log(m);
        is.close();
        
        ifstream ls(argv[1]);
        log.load(ls);
        ls.close();
        cerr << "log size" << log.size() << endl;
        for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){
                RangeReading* rr=dynamic_cast<RangeReading*>(*it);
                if (rr){
                        *os << rr->getSensor()->getName() << " ";
                        *os << rr->size()<< " ";
                        for (RangeReading::const_iterator it=rr->begin(); it!=rr->end(); it++){
                                *os << (*it)*0.001 << " ";
                        }
                        *os<< rr->getPose().x*0.001 << " " << rr->getPose().y*0.001 << " " << rr->getPose().theta << endl;
                }
        }
}