C++ options::format方法代码示例

static block_t* read_block_impl_( ::tbb::flow_control* flow = NULL )
{
    static boost::array< block_t, 3 > blocks;
    static boost::optional< block_t::pair_t > last;
    static comma::uint32 block_id = 0;
    block_t::pairs_t* points = new block_t::pairs_t;
    while( true ) // quick and dirty, only if --discard
    {
        static comma::csv::input_stream< input_t > istream( std::cin, csv );
        points->clear();
        while( true )
        {
            if( last )
            {
                block_id = last->first.block;
                points->push_back( *last );
                last.reset();
            }
            if( is_shutdown || std::cout.bad() || std::cin.bad() || std::cin.eof() )
            {
                if( bursty_reader ) { bursty_reader->stop(); } // quick and dirty, it sucks...
                if( flow ) { flow->stop(); }
                break;
            }
            const input_t* p = istream.read();
            if( !p ) { break; }
            std::string line;
            if( csv.binary() )
            {
                line.resize( csv.format().size() );
                ::memcpy( &line[0], istream.binary().last(), csv.format().size() );
            }
            else
            {
                line = comma::join( istream.ascii().last(), csv.delimiter );
            }
            last = std::make_pair( *p, line );
            if( p->block != block_id ) { break; }
        }
        for( unsigned int i = 0; i < blocks.size(); ++i )
        {
            if( !blocks[i].empty ) { continue; }
            blocks[i].clear();
            blocks[i].id = block_id;
            blocks[i].points.reset( points );
            blocks[i].empty = false;
            return &blocks[i];
        }
    }
}

 intervals( const comma::command_line_options& options ) : options( options )
                                                         , csv( options )
                                                         , ocsv( options )
                                                         , ascii_csv( options )
                                                         , empty( traits< bound_type >::cast( options.optional< std::string >( "--empty" ) ) )
                                                         , intervals_only( options.exists( "--intervals-only" ) )
                                                         , use_limits( options.exists( "--limits,-l" ) )
 {
     if( csv.fields.empty() ) { csv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' ); }
     if( ocsv.fields.empty() || intervals_only )
     {
         ocsv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' );
         if( ocsv.binary() && ( intervals_only || append ) ) { ocsv.format( comma::csv::format::value< interval_t< From, To > >() ); }
     }
     ascii_csv.fields = ocsv.fields;
     ascii_csv.quote = boost::none;
     if( verbose ) { std::cerr << app_name << ": empty: "; empty ? std::cerr << *empty : std::cerr << "<none>"; std::cerr << std::endl; }
     options.assert_mutually_exclusive( "overlap-count-min,overlap-count-max", "overlap-count" );
     if( options.exists( "--overlap-count" ) )
     {
         min_overlap_count = max_overlap_count = options.value< unsigned int >( "--overlap-count" );
     }
     else
     {
         min_overlap_count = options.value( "--overlap-count-min", 0 );
         max_overlap_count = options.value( "--overlap-count-max", std::numeric_limits< unsigned int >::max() );
     }
 }

disparity::disparity ( const snark::imaging::camera_parser& left, const snark::imaging::camera_parser& right, unsigned int width, unsigned int height, const comma::csv::options& csv, bool input_rectified ):
    m_rotation( right.rotation() * left.rotation().transpose() ),
    m_translation( right.translation() - left.translation() ),
    m_rectify( left.camera(), left.distortion(), right.camera(), right.distortion(), width, height, m_rotation, m_translation, input_rectified ),
    m_input_rectified( input_rectified ),
    m_serialization( csv.fields, csv.format() )
{

}

template < typename It > static void output_( It it, It end )
{
    for( ; it != end; ++it )
    {
        for( std::size_t i = 0; i < it->second.size() ; ++i )
        {
            std::cout.write( &( it->second[i][0] ), stdin_csv.binary() ? stdin_csv.format().size() : it->second[i].length() );
            if( stdin_csv.flush ) { std::cout.flush(); }
        }
    }
}

stereo::stereo ( const snark::imaging::camera_parser& left, const snark::imaging::camera_parser& right, unsigned int width, unsigned int height, const comma::csv::options& csv, bool input_rectified ):
    m_rotation( right.rotation() * left.rotation().transpose() ),
    m_translation( right.translation() - left.translation() ),
    m_rectify( left.camera(), left.distortion(), right.camera(), right.distortion(), width, height, m_rotation, m_translation, input_rectified ),
    m_input_rectified( input_rectified ),
    m_frame_counter( 0 )
{
    if( csv.binary() )
    {
        m_binary.reset( new comma::csv::binary< colored_point >( csv ) );
        m_output.resize( csv.format().size() );
    }
    else
    {
        m_ascii.reset( new comma::csv::ascii< colored_point >( csv ) );
    }
}

 intervals( const comma::command_line_options& options ) : options( options )
                                                         , csv( options )
                                                         , ocsv( options )
                                                         , ascii_csv( options )
                                                         , empty( traits< bound_type >::cast( options.optional< std::string >( "--empty" ) ) )
                                                         , intervals_only( options.exists( "--intervals-only" ) )
                                                         , use_limits( options.exists( "--limits,-l" ) )
 {
     if( csv.fields.empty() ) { csv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' ); }
     if( ocsv.fields.empty() || intervals_only )
     {
         ocsv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' );
         if( ocsv.binary() && intervals_only ) { ocsv.format( comma::csv::format::value< interval_t< From, To > >() ); }
     }
     ascii_csv.fields = ocsv.fields;
     ascii_csv.quote = boost::none;
     if( verbose ) { std::cerr << app_name << ": empty: "; empty ? std::cerr << *empty : std::cerr << "<none>"; std::cerr << std::endl; }
 }

int sort( const comma::command_line_options& options )
{
    input_t::map sorted_map;
    input_t default_input;
    std::vector< std::string > v = comma::split( stdin_csv.fields, ',' );
    std::vector< std::string > order = options.exists("--order") ? comma::split( options.value< std::string >( "--order" ), ',' ) : v;
    std::vector< std::string > w (v.size());
    bool unique = options.exists("--unique,-u");
    
    std::string first_line;
    comma::csv::format f;
    if( stdin_csv.binary() ) { f = stdin_csv.format(); }
    else if( options.exists( "--format" ) ) { f = comma::csv::format( options.value< std::string >( "--format" ) ); }
    else
    {
        while( std::cin.good() && first_line.empty() ) { std::getline( std::cin, first_line ); }
        if( first_line.empty() ) { return 0; }
        f = comma::csv::impl::unstructured::guess_format( first_line, stdin_csv.delimiter );
        if( verbose ) { std::cerr << "csv-sort: guessed format: " << f.string() << std::endl; }
    }
    for( std::size_t i = 0; i < order.size(); ++i ) // quick and dirty, wasteful, but who cares
    {
        if (order[i].empty()) continue;
        for( std::size_t k = 0; k < v.size(); ++k )
        {
            if( v[k].empty() || v[k] != order[i] ) 
            { 
                if ( k + 1 == v.size()) 
                { 
                    std::cerr << "csv-sort: order field name \"" << order[i] << "\" not found in input fields \"" << stdin_csv.fields << "\"" << std::endl;
                    return 1;
                }
                continue; 
            }
            std::string type = default_input.keys.append( f.offset( k ).type );
            w[k] = "keys/" + type;
            
            ordering_t o;
            if ( type[0] == 's' ) { o.type = ordering_t::str_type; o.index = default_input.keys.strings.size() - 1; }
            else if ( type[0] == 'l' ) { o.type = ordering_t::long_type; o.index = default_input.keys.longs.size() - 1; }
            else if ( type[0] == 'd' ) { o.type = ordering_t::double_type; o.index = default_input.keys.doubles.size() - 1; }
            else if ( type[0] == 't' ) { o.type = ordering_t::time_type; o.index = default_input.keys.time.size() - 1; }
            else { std::cerr << "csv-sort: cannot sort on field " << v[k] << " of type \"" << type << "\"" << std::endl; return 1; }
            
            ordering.push_back(o);
            
            break;
        }
    }
    stdin_csv.fields = comma::join( w, ',' );
    if ( verbose ) { std::cerr << "csv-sort: fields: " << stdin_csv.fields << std::endl; }
    comma::csv::input_stream< input_t > stdin_stream( std::cin, stdin_csv, default_input );
    #ifdef WIN32
    if( stdin_stream.is_binary() ) { _setmode( _fileno( stdout ), _O_BINARY ); }
    #endif
    
    if (!first_line.empty()) 
    { 
        input_t::map::mapped_type& d = sorted_map[ comma::csv::ascii< input_t >(stdin_csv,default_input).get(first_line) ];
        d.push_back( first_line + "\n" );
    }
    
    while( stdin_stream.ready() || ( std::cin.good() && !std::cin.eof() ) )
    {
        const input_t* p = stdin_stream.read();
        if( !p ) { break; }
        if( stdin_stream.is_binary() )
        {
            input_t::map::mapped_type& d = sorted_map[ *p ];
            if (unique && !d.empty()) continue;
            d.push_back( std::string() );
            d.back().resize( stdin_csv.format().size() );
            ::memcpy( &d.back()[0], stdin_stream.binary().last(), stdin_csv.format().size() );
        }
        else
        {
            input_t::map::mapped_type& d = sorted_map[ *p ];
            if (unique && !d.empty()) continue;
            d.push_back( comma::join( stdin_stream.ascii().last(), stdin_csv.delimiter ) + "\n" );
        }
    }
    
    if( options.exists( "--reverse,-r" ) ) { output_( sorted_map.rbegin(), sorted_map.rend() ); }
    else { output_( sorted_map.begin(), sorted_map.end() ); }
    
    return 0;
}

int main( int ac, char** av )
{
    try
    {
        comma::command_line_options options( ac, av );
        if( options.exists( "--help,-h" ) ) { usage(); }
        verbose = options.exists( "--verbose,-v" );
        bool is_or = options.exists( "--or" );
        csv = comma::csv::options( options );
        fields = comma::split( csv.fields, ',' );
        if( fields.size() == 1 && fields[0].empty() ) { fields.clear(); }
        std::vector< std::string > unnamed = options.unnamed( "--first-matching,--or,--sorted,--input-sorted,--not-matching,--output-all,--all,--strict,--verbose,-v", "-.*" );
        //for( unsigned int i = 0; i < unnamed.size(); constraints_map.insert( std::make_pair( comma::split( unnamed[i], ';' )[0], unnamed[i] ) ), ++i );
        bool strict = options.exists( "--strict" );
        bool first_matching = options.exists( "--first-matching" );
        bool not_matching = options.exists( "--not-matching" );
        bool all = options.exists( "--output-all,--all" );
        for( unsigned int i = 0; i < unnamed.size(); ++i )
        {
            std::string field = comma::split( unnamed[i], ';' )[0];
            bool found = false;
            for( unsigned int j = 0; j < fields.size() && !found; found = field == fields[j], ++j );
            if( !found )
            {
                if( strict ) { std::cerr << "csv-select: on constraint: \"" << unnamed[i] << "\" field \"" << field << "\" not found in fields: " << csv.fields << std::endl; return 1; }
                std::cerr << "csv-select: warning: on constraint: \"" << unnamed[i] << "\" field \"" << field << "\" not found in fields: " << csv.fields << std::endl;
                continue;
            }
            constraints_map.insert( std::make_pair( field, unnamed[i] ) );
        }
        comma::signal_flag is_shutdown;
        if( csv.binary() )
        {
            #ifdef WIN32
            _setmode( _fileno( stdout ), _O_BINARY );
            #endif
            init_input( csv.format(), options );
            comma::csv::binary_input_stream< input_t > istream( std::cin, csv, input );
            while( !is_shutdown && ( istream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
            {
                const input_t* p = istream.read();
                if( !p || p->done( is_or ) ) { break; }
                char match = ( p->is_a_match( is_or ) == !not_matching ) ? 1 : 0;
                if( match || all )
                {
                    std::cout.write( istream.last(), csv.format().size() );
                    if( all ) { std::cout.write( &match, 1 ); }
                    if( csv.flush ) { std::cout.flush(); }
                    if( first_matching ) { break; }
                }
            }
        }
        else
        {
            std::string line;
            while( !is_shutdown && std::cin.good() && !std::cin.eof() )
            {
                std::getline( std::cin, line );
                line = comma::strip( line, '\r' ); // windows, sigh...
                if( !line.empty() ) { break; }
            }
            if( line.empty() ) { return 0; }
            comma::csv::format format = options.exists( "--format" )
                                      ? comma::csv::format( options.value< std::string >( "--format" ) )
                                      : guess_format( line );
            init_input( format, options );
            comma::csv::ascii_input_stream< input_t > istream( std::cin, csv, input );
            // todo: quick and dirty: no time to debug why the commented section does not work (but that's the right way)
            std::istringstream iss( line );
            comma::csv::ascii_input_stream< input_t > isstream( iss, csv, input );
            const input_t* p = isstream.read();
            if( !p || p->done( is_or ) ) { return 0; }
            bool match = p->is_a_match( is_or ) == !not_matching;
            if( match || all )
            {
                std::cout << line;
                if( all ) { std::cout << csv.delimiter << match; }
                std::cout << std::endl;
                if( first_matching ) { return 0; }
            }
            while( !is_shutdown && ( istream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
            {
                const input_t* p = istream.read();
                if( !p || p->done( is_or ) ) { break; }
                bool match = p->is_a_match( is_or ) == !not_matching;
                if( match || all )
                {
                    std::cout << comma::join( istream.last(), csv.delimiter );
                    if( all ) { std::cout << csv.delimiter << match; }
                    std::cout << std::endl;
                    if( first_matching ) { return 0; }
                }
            }
        }
        return 0;
    }
    catch( std::exception& ex ) { std::cerr << "csv-select: caught: " << ex.what() << std::endl; }
    catch( ... ) { std::cerr << "csv-select: unknown exception" << std::endl; }
    return 1;
}

int main( int ac, char** av )
{
    try
    {
        comma::command_line_options options( ac, av );
        verbose = options.exists( "--verbose,-v" );
        if( options.exists( "--help,-h" ) ) { usage( verbose ); }
        csv = comma::csv::options( options );
        csv.full_xpath = true;
        ascii = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", csv.delimiter );
        const std::vector< std::string >& operations = options.unnamed( "--verbose,-v,--trace,--no-antialiasing,--next,--unit", "-.*" );
        if( operations.size() != 1 ) { std::cerr << "points-calc: expected one operation, got " << operations.size() << ": " << comma::join( operations, ' ' ) << std::endl; return 1; }
        const std::string& operation = operations[0];
        if (vector_calc::has_operation(operation))
        {
            vector_calc::process(operation, options, csv);
            return 0;
        }
        if( operation == "plane-intersection" )
        {
            plane_intersection::process(options, csv);
            return 0;
        }
        if( operation == "distance" )
        {
            if(    csv.has_field( "first" )   || csv.has_field( "second" )
                || csv.has_field( "first/x" ) || csv.has_field( "second/x" )
                || csv.has_field( "first/y" ) || csv.has_field( "second/y" )
                || csv.has_field( "first/z" ) || csv.has_field( "second/z" ) )
            {
                calculate_distance_for_pairs();
                return 0;
            }
            if ( options.exists( "--next" ) ) { calculate_distance_next(); }
            else { calculate_distance( false ); }
            return 0;
        }
        if( operation == "cumulative-distance" )
        {
            calculate_distance( true );
            return 0;
        }
        if( operation == "nearest" )
        {
            if( options.exists( "--point,--to" ) )
            {
                Eigen::Vector3d point = comma::csv::ascii< Eigen::Vector3d >().get( options.value< std::string >( "--point,--to" ) );
                comma::csv::input_stream< Eigen::Vector3d > istream( std::cin, csv );
                std::string record;
                double min_distance = std::numeric_limits< double >::max();
                while( istream.ready() || ( std::cin.good() && !std::cin.eof() ) )
                {
                    const Eigen::Vector3d* p = istream.read();
                    if( !p ) { break; }
                    double d = ( *p - point ).norm();
                    if( d >= min_distance ) { continue; }
                    min_distance = d;
                    record = csv.binary() ? std::string( istream.binary().last(), csv.format().size() ) : comma::join( istream.ascii().last(), csv.delimiter );
                }
                if( !record.empty() ) { std::cout << record; }
                if( csv.binary() ) { std::cout.write( reinterpret_cast< const char* >( &min_distance ), sizeof( double ) ); }
                else { std::cout << csv.delimiter << min_distance << std::endl; }
                return 0;
            }
            else
            {
                
                return 0;
            }
        }
        if( operation == "thin" )
        {
            if( !options.exists( "--resolution" ) ) { std::cerr << "points-calc: --resolution is not specified " << std::endl; return 1; }
            double resolution = options.value( "--resolution" , 0.0 );
            thin( resolution );
            return 0;
        }
        if( operation == "discretise" || operation == "discretize" )
        {
            if( !options.exists( "--step" ) ) { std::cerr << "points-calc: --step is not specified " << std::endl; return 1; }
            double step = options.value( "--step" , 0.0 );
            if( step <= 0 ) { std::cerr << "points-calc: expected positive step, got " << step << std::endl; return 1; }
            // the last discretised point can be very close to the end of the interval, in which case the last two points can be identical in the output since ascii.put uses 12 digits by default
            // setting --tolerance=1e-12 will not allow the last discretised point to be too close to the end of the interval and therefore the output will have two distinct points at the end
            double tolerance = options.value( "--tolerance" , 0.0 ); 
            if( tolerance < 0 ) { std::cerr << "points-calc: expected non-negative tolerance, got " << tolerance << std::endl; return 1; }
            discretise( step, tolerance );
            return 0;
        }
        if( operation == "local-max" || operation == "local-min" ) // todo: if( operation == "local-calc" ? )
        {
            double sign = operation == "local-max" ? 1 : -1;
            if( csv.fields.empty() ) { csv.fields = "x,y,z,scalar"; }
            csv.full_xpath = false;
            bool has_id = csv.has_field( "id" );
            comma::csv::input_stream< local_operation::point > istream( std::cin, csv );
            std::deque< local_operation::record > records;
            double radius = options.value< double >( "--radius" );
            bool trace = options.exists( "--trace" );
            Eigen::Vector3d resolution( radius, radius, radius );
//.........这里部分代码省略.........

static void output_input( std::ostream& os, const timestring_t& input )
{
    if( stdin_csv.binary() ) { os.write( &input.second[0], stdin_csv.format().size() ); }
    else { os << input.second; }
}

//.........这里部分代码省略.........
            std::cerr << "            point them to your pylon installation, e.g:" << std::endl;
            std::cerr << "            export PYLON_ROOT=/opt/pylon" << std::endl;
            std::cerr << "            export GENICAM_ROOT_V2_1=/opt/pylon/genicam" << std::endl;
            return 1;
        }
        if( vm.count( "list-cameras" ) )
        {
            Pylon::DeviceInfoList_t devices;
            factory.EnumerateDevices( devices );
            for( unsigned int i = 0; i < devices.size(); ++i ) { std::cerr << devices[i].GetFullName() << std::endl; }
            return 0;
        }
        timeout = timeout_seconds * 1000.0;
        std::string filters = comma::join( boost::program_options::collect_unrecognized( parsed.options, boost::program_options::include_positional ), ';' );
        options.header_only = vm.count( "header-only" );
        options.no_header = vm.count( "no-header" );
        csv = comma::csv::options( argc, argv );
        bool chunk_mode =    csv.has_field( "counters" ) // quick and dirty
                          || csv.has_field( "adjusted-t" )
                          || csv.has_field( "line" )
                          || csv.has_field( "line-count" )
                          || csv.has_field( "ticks" )
                          || csv.has_field( "counters/adjusted-t" )
                          || csv.has_field( "counters/line" )
                          || csv.has_field( "counters/line-count" )
                          || csv.has_field( "counters/ticks" );
        if( chunk_mode )
        {
            if( vm.count( "encoder-ticks" ) == 0 ) { std::cerr << "basler-cat: chunk mode, please specify --encoder-ticks" << std::endl; return 1; }
            if( !filters.empty() ) { std::cerr << "basler-cat: chunk mode, cannot handle filters; use: basler-cat | cv-cat <filters> instead" << std::endl; return 1; }
            if( height != 1 && height != std::numeric_limits< unsigned int >::max() ) { std::cerr << "basler-cat: only --height=1 implemented in chunk mode" << std::endl; return 1; }
            height = 1;
            std::vector< std::string > v = comma::split( csv.fields, ',' );
            std::string format;
            for( unsigned int i = 0; i < v.size(); ++i )
            {
                if( v[i] == "t" ) { v[i] = "header/" + v[i]; format += "t"; }
                else if( v[i] == "rows" || v[i] == "cols" || v[i] == "size" || v[i] == "type" ) { v[i] = "header/" + v[i]; format += "ui"; }
                else if( v[i] == "adjusted-t" ) { v[i] = "counters/" + v[i]; format += "t"; }
                else if( v[i] == "line-count" || v[i] == "ticks" ) { v[i] = "counters/" + v[i]; format += "ul"; }
                else if( v[i] == "line" ) { v[i] = "counters/" + v[i]; format += "ui"; }
                else { std::cerr << "basler-cat: expected field, got '" << v[i] << "'" << std::endl; return 1; }
            }
            csv.fields = comma::join( v, ',' );
            csv.full_xpath = true;
            csv.format( format );
        }
        if( !vm.count( "buffer" ) && vm.count( "discard" ) ) { discard = 1; }
        Pylon::CBaslerGigECamera camera;
        if( vm.count( "address" ) )
        {
            Pylon::CBaslerGigEDeviceInfo info;
            info.SetIpAddress( address.c_str() );
            camera.Attach( factory.CreateDevice( info ) );
        }
        else
        {
            Pylon::DeviceInfoList_t devices;
            factory.EnumerateDevices( devices );
            if( devices.empty() ) { std::cerr << "basler-cat: no camera found" << std::endl; return 1; }
            std::cerr << "basler-cat: will connect to the first of " << devices.size() << " found device(s):" << std::endl;
            for( unsigned int i = 0; i < devices.size(); ++i ) { std::cerr << "    " << devices[i].GetFullName() << std::endl; }
            camera.Attach( transport_layer->CreateDevice( devices[0] ) );
        }
        if( verbose ) { std::cerr << "basler-cat: initialized camera" << std::endl; }
        if( verbose ) { std::cerr << "basler-cat: opening camera " << camera.GetDevice()->GetDeviceInfo().GetFullName() << "..." << std::endl; }

int main( int ac, char** av )
{
    comma::command_line_options options( ac, av );
    verbose = options.exists( "--verbose,-v" );
    if( options.exists( "--help,-h" ) ) { usage(verbose); }

    try
    {
        options.assert_mutually_exclusive("--tcp,--serial");
        options.assert_mutually_exclusive("--laser,--serial");
        scan_break = options.value< comma::uint32 > ( "--scan-break", 20 ); // time in us
        num_of_scans = options.value< comma::uint32 > ( "--num-of-scans", 100 ); // time in us
        reboot_on_error = options.exists( "--reboot-on-error" );
        start_step=options.value<int>("--start-step", -1);
        end_step=options.value<int>("--end-step", -1);
        debug_verbose=options.exists("--debug");
        frames=options.value<int>("--frames",-1);
        omit_on_error = ! options.exists("--dont-omit-on-error");
        bool permissive = options.exists( "--permissive" );
        std::vector< std::string > unnamed = options.unnamed( "--output-fields,--output-format,--format,--verbose,-v,--flush,--reboot-on-error,--debug,--output-samples,--dont-omit-on-errork,--permissive",
                                                              "--frames,--scan-break,--num-of-scans,--start-step,--end-step,--serial,--port,--tcp,--laser,--fields,--binary,-b,--baud-rate,--set-baud-rate");
        if(!unnamed.empty()) { std::cerr<<"invalid option(s):"<< comma::join(unnamed, ',') <<std::endl; return 1; }
        
        scip2_device scip2;
        ust_device<UST_SMALL_STEPS> ust_small( permissive );
        ust_device<UST_MAX_STEPS> ust_max( permissive );
        const bool serial = options.exists( "--serial");
        laser_device& device = serial ? scip2 : (start_step ?  (laser_device&)ust_small : (laser_device&)ust_max);
        
        // Sets up output data
        csv.fields = options.value< std::string >( "--fields", "" );
        std::vector< std::string > v = comma::split( csv.fields, ',' );
        for( std::size_t i = 0; i < v.size(); ++i ) // convenience shortcuts
        {
            if( v[i] == "i" ) { v[i] = "intensity"; }
            else if( v[i] == "r" ) { v[i] = "range"; }
            else if( v[i] == "b" ) { v[i] = "bearing"; }
            else if( v[i] == "e" ) { v[i] = "elevation"; }
        }
        csv.fields = comma::join( v, ',' );
        csv.full_xpath = false;
        // see sick-ldmrs-to-csv
        if( options.exists( "--output-format,--format" ) ) 
        {
            if( !options.exists("--tcp") && !options.exists("--serial") ) { std::cerr << name() << "please specify --serial or --tcp" << std::endl; return 1; }
            if(serial) { std::cout << comma::csv::format::value< scip2_device::output_t >( csv.fields, false ) << std::endl; }
            else { std::cout << comma::csv::format::value< snark::hokuyo::data_point >( csv.fields, false ) << std::endl; }
            return 0; 
            
        }
        if(options.exists("--output-fields"))
        {
            if( !options.exists("--tcp") && !options.exists("--serial") ) { std::cerr << name() << "please specify --serial or --tcp" << std::endl; return 1; }
            if(!csv.fields.empty()) {std::cout<<csv.fields<<std::endl;}
            else if(serial) { std::cout<<comma::join(comma::csv::names<scip2_device::output_t>(), ',')<<std::endl;}
            else {std::cout<<comma::join(comma::csv::names<snark::hokuyo::data_point>(), ',')<<std::endl;}
            return 0;
        }
        if( options.exists( "--binary,-b" ) ) 
        {
            if(serial) { csv.format( comma::csv::format::value< scip2_device::output_t >( csv.fields, false ) ); }
            else { csv.format( comma::csv::format::value< snark::hokuyo::data_point >( csv.fields, false ) ); }
        }
        
        if( options.exists( "--output-samples" ) ) { output_samples(); return 0; }
        
        device.init(options);
        /// Connect to the laser
        ios = device.connect();
        device.setup(*ios);
        if(serial)
        {
            if(debug_verbose) { ((serial_stream&)*ios).dump_setting(); }
//             debug_msg("change serial settings");
//             const char* ss_cmd="SS500000\n";
            process(scip2);
        }
        else
        {
            if(start_step) { process(ust_small); } else { process(ust_max); }
        }
    }
    catch( std::exception& ex ) { std::cerr << name() << ex.what() << std::endl; return 1; }
    catch( ... ) { std::cerr << name() << "unknown exception" << std::endl; return 1; }
    return 0;
}