sm-cli-export-rawlog.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mrpt/core/exceptions.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/obs/CObservationComment.h>
#include <mrpt/obs/CObservationRobotPose.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/poses/CPose3DInterpolator.h>
 
#include <sstream>
 
#include "sm-cli.h"
 
static int printCommandsExportRawlog(bool showErrorMsg);
 
int commandExportRawlog()
{
    const auto& lstCmds = cli->argCmd.getValue();
    if (cli->argHelp.isSet()) return printCommandsExportRawlog(false);
    if (lstCmds.size() != 2 || !cli->arg_output.isSet()) return printCommandsExportRawlog(true);
 
    // Take second unlabeled argument:
    const std::string file = lstCmds.at(1);
 
    const mrpt::maps::CSimpleMap sm = read_input_sm_from_cli(file);
 
    const auto outFil = cli->arg_output.getValue();
 
    mrpt::obs::CRawlog rawlog;
 
    for (const auto& [kf, sf, twist] : sm)
    {
        ASSERT_(kf);
        ASSERT_(sf);
 
        std::optional<mrpt::Clock::time_point> timestamp;
 
        mrpt::obs::CSensoryFrame outSF;
        // regular observations:
        outSF += *sf;
 
        for (const auto& o : *sf)
        {
            if (o->timestamp == mrpt::system::InvalidTimeStamp()) continue;
            if (!timestamp)
            {
                timestamp = o->timestamp;
                break;
            }
        }
 
        // plus:
        // 1) Robot pose:
        // 2) Twist:
        {
            auto obsPose = mrpt::obs::CObservationRobotPose::Create();
            if (timestamp) obsPose->timestamp = *timestamp;
            obsPose->sensorLabel = "pose";
            obsPose->pose.copyFrom(*kf);
            outSF.insert(obsPose);
        }
        if (twist.has_value())
        {
            auto obsTwist = mrpt::obs::CObservationComment::Create();
            if (timestamp) obsTwist->timestamp = *timestamp;
            obsTwist->sensorLabel = "twist";
            std::stringstream ss;
            ss << "Twist stored in the simplemap keyframe:\n" << twist->asString();
 
            obsTwist->text = ss.str();
            outSF.insert(obsTwist);
        }
 
        rawlog.insert(outSF);
    }
 
    std::cout << "Saving rawlog with " << rawlog.size() << " entries to: '" << outFil << "'"
              << std::endl;
 
    rawlog.saveToRawLogFile(outFil);
 
    return 0;
}
 
int printCommandsExportRawlog(bool showErrorMsg)
{
    if (showErrorMsg)
    {
        setConsoleErrorColor();
        std::cerr << "Error: missing or unknown subcommand.\n";
        setConsoleNormalColor();
    }
 
    fprintf(
        stderr,
        R"XXX(Usage:
 
    sm-cli export-rawlog <filename.simplemap> --output <OUTPUT.rawlog>
 
)XXX");
 
    return showErrorMsg ? 1 : 0;
}