From 8579de6325d4e067dd6ef453d6a3ee2a88ec010e Mon Sep 17 00:00:00 2001
From: Andrea Censi <andrea@cds.caltech.edu>
Date: Fri, 19 Jun 2009 02:38:17 +0000
Subject: [PATCH] decimate program
---
sm/CMakeLists.txt | 1 +
sm/apps/json_decimate.c | 53 +++++++++++++++++++++++++++++++++++++
sm/apps/ld_remove_doubles.c | 9 ++++++-
3 files changed, 62 insertions(+), 1 deletion(-)
create mode 100644 sm/apps/json_decimate.c
diff --git a/sm/CMakeLists.txt b/sm/CMakeLists.txt
index 5ad869f..dbcc191 100644
--- a/sm/CMakeLists.txt
+++ b/sm/CMakeLists.txt
@@ -84,6 +84,7 @@ new_executable(sm2)
new_executable(sm3)
new_executable(json_extract)
new_executable(json_extract_field)
+new_executable(json_decimate)
new_executable(json_split)
new_executable(json_pipe)
new_executable(carmen2json)
diff --git a/sm/apps/json_decimate.c b/sm/apps/json_decimate.c
new file mode 100644
index 0000000..366722a
--- /dev/null
+++ b/sm/apps/json_decimate.c
@@ -0,0 +1,53 @@
+#include <options/options.h>
+#include "../csm/csm_all.h"
+
+int main(int argc, const char * argv[]) {
+ sm_set_program_name(argv[0]);
+
+ int period;
+ const char*input_filename;
+ const char*output_filename;
+
+ struct option* ops = options_allocate(3);
+ options_int(ops, "period", &period, 1, "Period of objects to extract.");
+ options_string(ops, "in", &input_filename, "stdin", "input file (JSON)");
+ options_string(ops, "out", &output_filename, "stdout", "output file (JSON)");
+
+ if(!options_parse_args(ops, argc, argv)) {
+ fprintf(stderr, "%s : decimates a JSON stream."
+ "\n\nOptions:\n", argv[0]);
+ options_print_help(ops, stderr);
+ return -1;
+ }
+
+ if(period < 1) {
+ sm_error("Period must be >= 1.\n");
+ return 2;
+ }
+
+ FILE * input_stream = open_file_for_reading(input_filename);
+ FILE *output_stream = open_file_for_writing(output_filename);
+
+ if(!input_stream || !output_stream) return -1;
+
+
+ int count = 0;
+ while(1) {
+ JO jo = json_read_stream(stdin);
+ if(!jo) {
+ if(feof(stdin)) break;
+ sm_error("Malformed JSON\n");
+ return -1;
+ }
+
+ if(count % period == 0) {
+ const char * s = json_object_to_json_string(jo);
+ puts(s); puts("\n");
+ }
+
+ jo_free(jo);
+ count++;
+ }
+
+ return 0;
+}
diff --git a/sm/apps/ld_remove_doubles.c b/sm/apps/ld_remove_doubles.c
index ac65fed..73d594f 100644
--- a/sm/apps/ld_remove_doubles.c
+++ b/sm/apps/ld_remove_doubles.c
@@ -10,14 +10,21 @@ int main(int argc, const char*argv[]) {
sm_set_program_name(argv[0]);
double epsilon;
+ int debug;
+
struct option* ops = options_allocate(3);
- options_double(ops, "epsilon", &epsilon, 0.0001, "epsilon");
+ options_double(ops, "epsilon", &epsilon, 0.0001, "minimum difference between rays to be used");
+
+
if(!options_parse_args(ops, argc, argv)) {
options_print_help(ops, stderr);
return -1;
}
+ sm_debug_write(debug);
+
+
/* Read first scan */
LDP laser_ref=0, laser_sens;
--
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