C++ ValueArg::getValue方法代码示例

bool Characterization::canExecute(Feature* task)
{
	// is argOnly set?
	if (argOnly.getValue().size() > 0)
	{
		vector<string> onlies = argOnly.getValue();
		vector<string>::iterator i;

		for(i=onlies.begin(); i != onlies.end(); ++i)
		{
			string onlyFeat = *i;

			if (onlyFeat.compare(task->getName()) == 0)
			{
				VerboseOutput::println(string("Characterization"), "option --only: extract feature only '" + onlyFeat + "'");
				return true;
			}
		}
		return false;
	}

	bool result = true;

	// check if a certain level is requested
	if( (task->getLevel() == argLevel.getValue()) ||
		((argLevel.getValue() == 0) && (task->getLevel() < 4)) ) 
	{
		// check if certain features should be skipped
		vector<string> nos = argNO.getValue();
		
		vector<string>::iterator i;

		for(i=nos.begin(); i != nos.end(); ++i)
		{
			string no = *i;

			if (no.compare(task->getName()) == 0)
			{
				result = false;
			}
		}
	}
	else
	{
		result = false;
	}

	return result;
}

// }}}
int main(int argc, char* argv[]) { // {{{
  // {{{ initial definitions
  cmd.parse( argc, argv );
  int error=0;
  string option=optionArg.getValue();
  cout.precision(17); cerr.precision(17);
  // }}}
  // {{{ Set seed for random
  unsigned int semilla=seed.getValue();
  if (semilla == 0){
    Random semilla_uran; semilla=semilla_uran.strong();
  } 
  RNG_reset(semilla);
  // }}}
  // {{{ Report on the screen
  if(!no_general_report.getValue()){
    cout << "#linea de comando: "; 
    for(int i=0;i<argc;i++){ 
      cout <<argv[i]<<" " ;
    } cout << endl ;
    cout << "#semilla = " << semilla << endl; 
    error += system("echo \\#hostname: $(hostname)");
    error += system("echo \\#comenzando en: $(date)");
    error += system("echo \\#uname -a: $(uname -a)");
    error += system("echo \\#working dir: $(pwd)");
  }
  // }}}
  if //{{{ option == loquesea
    (option == "get_gse_spectrum"){ // {{{
      vec eig=eig_sym(RandomGSEDeltaOne(dimension.getValue()));
      for (int i=0; i<eig.size(); i++){  cout << eig(i) << endl;}
//       cout << eig << endl;
      return 0;
    } // }}}
  else if (option == "get_gse_flat_spectrum"){ // {{{
      vec eig=FlatSpectrumGSE(dimension.getValue());
      for (int i=0; i<eig.size(); i++){  cout << eig(i) << endl;}
//     cout << eig <<endl;
    return 0;
  } // }}}
  else if (option == "get_gse_flat_spectrum"){ // {{{
      vec eig=FlatSpectrumGSE(dimension.getValue());
      for (int i=0; i<eig.size(); i++){  cout << eig(i) << endl;}
//     cout << eig <<endl;
    return 0;
  } // }}}
  //}}}
} // }}}

int test(int argc, char ** argv)
{
  NUKLEI_TRACE_BEGIN();
  
  /* Parse command line arguments */
  
  TCLAP::CmdLine cmd(INFOSTRING + "Test App." );
  
  /* Standard arguments */
  
  TCLAP::ValueArg<int> niceArg
  ("", "nice",
   "Proccess priority.",
   false, NICEINC, "int", cmd);
  
  /* Custom arguments */
  
  TCLAP::UnlabeledValueArg<std::string> fileArg
  ("file",
   "Nuklei file.",
   false, "", "filename", cmd);
    
  cmd.parse( argc, argv );
  
  NUKLEI_ASSERT(setpriority(PRIO_PROCESS, 0, niceArg.getValue()) == 0);
  
  Quaternion q(1, 0, 0, 0);
  
  {
    Quaternion r;
    r.FromAxisAngle(Vector3::UNIT_Z, M_PI/2);
    q = r * q;
    std::cout << la::normalized(q) << std::endl;
  }

  {
    Quaternion r;
    r.FromAxisAngle(Vector3::UNIT_Z, M_PI);
    std::cout << la::normalized(r*q) << std::endl;
  }

  {
    Quaternion r;
    r.FromAxisAngle(Vector3::UNIT_Y, 90. / 180*M_PI);
    std::cout << la::normalized(r*q) << std::endl;
  }

  {
    Quaternion r;
    r.FromAxisAngle(Vector3::UNIT_Y, -90. / 180*M_PI);
    std::cout << la::normalized(r*q) << std::endl;
  }

  return 0;
  
  NUKLEI_TRACE_END();
}

// }}}
int main(int argc, char* argv[]){ // {{{
  // {{{ initial definitions
  cmd.parse( argc, argv );
  int error=0;
  string option=optionArg.getValue();
  cout.precision(17); cerr.precision(17);
  // }}}
  // {{{ Set seed for random
  unsigned int semilla=seed.getValue();
  if (semilla == 0){
    Random semilla_uran; semilla=semilla_uran.strong();
  } 
  RNG_reset(semilla);
  // }}}
  // {{{ Report on the screen
  if(!no_general_report.getValue()){
    cout << "#linea de comando: "; 
    for(int i=0;i<argc;i++){ 
      cout <<argv[i]<<" " ;
    } cout << endl ;
    cout << "#semilla = " << semilla << endl; 
    error += system("echo \\#hostname: $(hostname)");
    error += system("echo \\#comenzando en: $(date)");
    error += system("echo \\#uname -a: $(uname -a)");
    error += system("echo \\#working dir: $(pwd)");
  }
  // }}}
  if //{{{ option == loquesea
    (option == "loquesea"){ // {{{
    // }}}
  } else if (option == "nichts") { // {{{
  // }}}
  } else { // {{{
    cout << "Error en la opcion. Mira, esto es lo que paso: "
      << optionArg.getValue() << endl;
  } // }}}
// }}}
  // {{{ Final report
  if(!no_general_report.getValue()){
    error += system("echo \\#terminando:    $(date)");
  }
  // }}}
  return 0;
} // }}}

// ======================================================================
//   See TOutputRawlogCreator declaration
// ======================================================================
TOutputRawlogCreator::TOutputRawlogCreator()
{
	if (!arg_output_file.isSet())
		throw runtime_error("This operation requires an output file. Use '-o file' or '--output file'.");

	out_rawlog_filename = arg_output_file.getValue();
	if (fileExists(out_rawlog_filename) && !arg_overwrite.getValue() )
		throw runtime_error(string("*ABORTING*: Output file already exists: ") + out_rawlog_filename + string("\n. Select a different output path, remove the file or force overwrite with '-w' or '--overwrite'.") );

	if (!out_rawlog.open(out_rawlog_filename))
		throw runtime_error(string("*ABORTING*: Cannot open output file: ") + out_rawlog_filename );
}

int main(int argc, char* argv[]) { //{{{
// 	Random semilla_uran;
// 	itpp::RNG_reset(semilla_uran.strong());
//   	cout << PurityRMT::QubitEnvironmentHamiltonian(3,0.) <<endl;
// 	cout << RMT::FlatSpectrumGUE(5,.1) <<endl;
//
  cmd.parse( argc, argv );
  cout.precision(16);

  string option=optionArg.getValue();
  if (option=="test_kick_single_spin"){ // {{{// {{{

    int dim=pow_2(qubits.getValue());
    cvec state(dim);
    double x,y;
    ifstream myReadFile;
    myReadFile.open("/tmp/estado.dat");
    for (int i=0; i<dim; i++){
      myReadFile >> x >> y ;
      state(i) = complex<double>(x,y) ;
    }
    myReadFile.close();
    
    vec b(3); b(0)=bx.getValue(); b(1)=by.getValue(); b(2)=bz.getValue();
    apply_magnetic_kick(state,b,position.getValue());
    for (int i=0; i<dim; i++){
      cout << real(state(i)) << " " << real(-Im*state(i)) << endl;
    }//}}}
  } else if(option=="test_kick") { // {{{

bool getArgValue(TCLAP::CmdLine &cmdline, const std::string &arg_name, T &out_val)
{
	using namespace TCLAP;

	std::list<Arg*>& args = cmdline.getArgList();
	for (std::list<Arg*>::iterator it=args.begin();it!=args.end();++it)
	{
		if ( (*it)->getName() == arg_name)
		{
			// Is it set? Return the default value anyway:
			TCLAP::ValueArg<T> *arg = static_cast<TCLAP::ValueArg<T> *>(*it);
			out_val = arg->getValue();
			return (*it)->isSet();
		}
	}
	return false;
}

// ======================================================================
//   See TOutputRawlogCreator declaration
// ======================================================================
TOutputRawlogCreator::TOutputRawlogCreator()
{
	if (!arg_output_file.isSet())
		throw runtime_error(
			"This operation requires an output file. Use '-o file' or "
			"'--output file'.");

	out_rawlog_filename = arg_output_file.getValue();
	if (fileExists(out_rawlog_filename) && !arg_overwrite.getValue())
		throw runtime_error(
			string("*ABORTING*: Output file already exists: ") +
			out_rawlog_filename +
			string("\n. Select a different output path, remove the file or "
				   "force overwrite with '-w' or '--overwrite'."));

	if (!out_rawlog_io.open(out_rawlog_filename))
		throw runtime_error(
			string("*ABORTING*: Cannot open output file: ") +
			out_rawlog_filename);
	out_rawlog = std::make_unique<
		mrpt::serialization::CArchiveStreamBase<mrpt::io::CFileGZOutputStream>>(
		out_rawlog_io);
}

int main(int argc, char* argv[])
{
	try
	{  
		// init comandline parser
			TCLAP::CmdLine cmd("Command description message", ' ', "1.0");

			TCLAP::ValueArg<string>          argOutputFile  ("o", "output",     "Output file",                                        true,  "",   "string");
			TCLAP::ValueArg<string>          argFilter      ("f", "filter",     "Filter files according to pattern",                  false, ".SIFTComparison.feat.xml.gz","string");
			TCLAP::ValueArg<int>             argPRECLUSTER  ("p", "precluster", "Number of descriptors to select in precluster-preprocessing (0 = no preclustering)",false,0   ,"int");
			TCLAP::ValueArg<int>             argBOWSIZE     ("b", "bowsize",    "Size of the BoW Dictionary",                         false, 1000, "int");
			TCLAP::SwitchArg                 argBinaryInput ("i", "binary",     "Read descriptors from binary archives",              false);
			TCLAP::SwitchArg                 argVerbose     ("v", "verbose",    "Provide additional debugging output",                false);
			TCLAP::UnlabeledValueArg<string> dirArg         (     "directory",  "Directory containing files with extracted features", true,  "directory","string");

			cmd.add( argOutputFile  );
			cmd.add( argFilter      );
			cmd.add( argPRECLUSTER  );
			cmd.add( argBOWSIZE     );
			cmd.add( argBinaryInput );
			cmd.add( argVerbose     );
			cmd.add( dirArg         );

		// parse arguments
			cmd.parse( argc, argv );

			// enable/disable verbose output
			VerboseOutput::verbose = argVerbose.getValue();

			VerboseOutput::println(string("train"), "Create BoW of size %d", argBOWSIZE.getValue());
			TermCriteria tcrit;
			tcrit.epsilon = 10;
			tcrit.maxCount = 10;
			tcrit.type = 1;

			BOWKMeansTrainer bowtrainer(argBOWSIZE.getValue(),tcrit,1,KMEANS_PP_CENTERS);

			VerboseOutput::println(string("train"), "Creating Visual Bag of Words");
			
			string filter = argFilter.getValue();

			if (argBinaryInput.getValue())
			{
				filter = ".SIFTComparison.descriptors.dat";
			}

			vector<string> files    = getdir(dirArg.getValue(), filter);
			int            i        = 1;

			VerboseOutput::println(string("train"), "Reading features of directory '%s'", dirArg.getValue().c_str());

			for (vector<string>::iterator filename = files.begin(); filename!=files.end(); ++filename)
			{
				VerboseOutput::println("train", "[%i of %i in directory '%s']", i++, files.size(), dirArg.getValue().c_str());
				
				Mat          descriptors;
				stringstream filePathss;

				filePathss << dirArg.getValue() << "/" << *filename;

				string filePath = filePathss.str();
				VerboseOutput::println(string("train"), string("processing file '" + filePath + "'"));

				

				if (argBinaryInput.getValue())
				{
					loadDescriptorsFromBinaryArchives(descriptors, filePath);
				}
				else
				{
					loadDescriptorsFromOpenCVFilestorage(descriptors, filePath);
				}
				

				if ((descriptors.rows == 0) || (descriptors.cols == 0))
				{
					throw runtime_error("No Descriptors read for file: ");
				}

				VerboseOutput::println(string("train"), "%i descriptors loaded", descriptors.rows);

				if ((argPRECLUSTER.getValue() > 0) && (argPRECLUSTER.getValue() < descriptors.rows - 100))
				{
					VerboseOutput::println(string("train"), string("pre-clustering"));
					
					Mat          labels;
					Mat          centers;

					kmeans(descriptors,argPRECLUSTER.getValue(),labels,tcrit,1, KMEANS_PP_CENTERS, centers);

					VerboseOutput::println(string("train"), "...add cluster centers of pre-clustering to bow");
					bowtrainer.add(centers);
				}
				else
				{
					VerboseOutput::println(string("train"), "...add descriptors to bow");
					bowtrainer.add(descriptors);
				}

//.........这里部分代码省略.........

// ======================================================================
//     main() of graph-slam
// ======================================================================
int main(int argc, char **argv)
{
	vector<TCLAP::Arg*> arg_ops;  // to be destroyed on exit.
	int ret_val = 0;

	try
	{
		// --------------- List of possible operations ---------------
		map<string,TOperationFunctor>  ops_functors;

		arg_ops.push_back(new TCLAP::SwitchArg("","levmarq",
			"Op: Optimizes the graph with sparse Levenberg-Marquartd using global coordinates (via mrpt::graphslam::optimize_graph_spa_levmarq).\n"
			"   Can be used together with: --view, --output, --max-iters, --no-span, --initial-lambda"
			,cmd, false) );
		ops_functors["levmarq"] = &op_levmarq;

		arg_ops.push_back(new TCLAP::SwitchArg("","dijkstra",
			"Op: Executes CNetworkOfPoses::dijkstra_nodes_estimate() to estimate the global pose of nodes from a Dijkstra tree and the edge relative poses.\n"
			"   Can be used together with: --view, --output"
			,cmd, false) );
		ops_functors["dijkstra"] = &op_dijkstra;

		arg_ops.push_back(new TCLAP::SwitchArg("","info",
			"Op: Loads the graph and displays statistics and information on it.\n"
			,cmd, false) );
		ops_functors["info"] = &op_info;
		// --------------- End of list of possible operations --------

		// Parse arguments:
		if (!cmd.parse( argc, argv ))
			throw std::runtime_error(""); // should exit.

		// Exactly 1 or --2d & --3d must be specified:
		if ( (arg_2d.isSet() && arg_3d.isSet()) || (!arg_2d.isSet() && !arg_3d.isSet()) )
			throw std::runtime_error("Exactly one --2d or --3d must be used.");

		const bool is3d = arg_3d.isSet();

		string input_file  = arg_input_file.getValue();
		const bool verbose = !arg_quiet.getValue();

		// Check the selected operation:
		//  Only one of the ops should be selected:
		string selected_op;
		for (size_t i=0;i<arg_ops.size();i++)
			if (arg_ops[i]->isSet())
			{
				if (selected_op.empty())
				{
					selected_op = arg_ops[i]->getName();
				}
				else	throw std::runtime_error(
					"Exactly one operation must be indicated on command line.\n"
					"Use --help to see the list of possible operations.");
			}

		// The "--view" argument needs a bit special treatment:
		if (selected_op.empty())
		{
			if (!arg_view.isSet())
				throw std::runtime_error(
					"Don't know what to do: No operation was indicated.\n"
					"Use --help to see the list of possible operations.");
			else
			{
				VERBOSE_COUT << "Operation to perform: " "view" << endl;
				op_view(input_file,is3d,cmd,verbose);
			}
		}
		else
		{
			VERBOSE_COUT << "Operation to perform: " << selected_op << endl;

			// ------------------------------------
			//  EXECUTE THE REQUESTED OPERATION
			// ------------------------------------
			ASSERTMSG_(ops_functors.find(selected_op)!=ops_functors.end(), "Internal error: Unknown operation functor!")

			// Call the selected functor:
			ops_functors[selected_op](input_file,is3d,cmd,verbose);
		}

		// successful end of program.
		ret_val = 0;
	}
	catch(std::exception &e)
	{
		if (strlen(e.what())) std::cerr << e.what() << std::endl;
		ret_val = -1;
	}

	// Free mem:
	for (size_t i=0;i<arg_ops.size();i++)
		delete arg_ops[i];

	// end:
	return ret_val;
//.........这里部分代码省略.........

int main(int argc, char **argv)
{
	try
	{
		printf(" gps2rawlog - Part of the MRPT\n");
		printf(" MRPT C++ Library: %s - Sources timestamp: %s\n", MRPT_getVersion().c_str(), MRPT_getCompilationDate().c_str());

		// Parse arguments:
		if (!cmd.parse( argc, argv ))
			throw std::runtime_error(""); // should exit.

		const string input_gps_file  = arg_input_file.getValue();
		string output_rawlog_file = arg_output_file.getValue();
		if (output_rawlog_file.empty())
			output_rawlog_file = mrpt::system::fileNameChangeExtension(input_gps_file,"rawlog");

		ASSERT_FILE_EXISTS_(input_gps_file)

		// Open input rawlog:
		CFileGZInputStream  fil_input;
		cout << "Opening for reading: '" << input_gps_file << "'...\n";
		fil_input.open(input_gps_file);
		cout << "Open OK.\n";

		// Open output:
		if (mrpt::system::fileExists(output_rawlog_file) && !arg_overwrite.isSet())
		{
			cout << "Output file already exists: `"<<output_rawlog_file<<"`, aborting. Use `-w` flag to overwrite.\n";
			return 1;
		}

		CFileGZOutputStream fil_out;
		cout << "Opening for writing: '" << output_rawlog_file << "'...\n";
		if (!fil_out.open(output_rawlog_file))
			throw std::runtime_error("Error writing file!");

		// GPS object:
		CGPSInterface  gps_if;
		gps_if.bindStream(&fil_input);
		
		// ------------------------------------
		//  Parse:
		// ------------------------------------
		while ( !fil_input.checkEOF() )
		{
			gps_if.doProcess();

			CGenericSensor::TListObservations lst_obs;
			gps_if.getObservations(lst_obs);

			printf("%u bytes parsed, %u new observations identified...\n",(unsigned)fil_input.getPosition(),(unsigned)lst_obs.size());
			for (CGenericSensor::TListObservations::const_iterator it=lst_obs.begin();it!=lst_obs.end();++it) {
				fil_out << *it->second;
			}
		}

		// successful end of program.
		return 0;
	}
	catch(std::exception &e)
	{
		if (strlen(e.what())) std::cerr << e.what() << std::endl;
		return 1;
	}
} // end of main()

void execGraphSlamEngine(mrpt::system::COutputLogger* logger)
{
	// Instance for managing the available graphslam deciders optimizers
	TUserOptionsChecker<GRAPH_T> options_checker;
	options_checker.createDeciderOptimizerMappings();
	options_checker.populateDeciderOptimizerProperties();

	// fetch the command line options
	// ////////////////////////////////////////////////////////////

	// decide whether to display the help messages for the deciders/optimizers
	{
		bool list_registrars = false;

		if (list_all_registrars.getValue())
		{
			options_checker.dumpRegistrarsToConsole("all");
			list_registrars = true;
		}
		if (list_node_registrars.getValue())
		{
			options_checker.dumpRegistrarsToConsole("node");
			list_registrars = true;
		}
		if (list_edge_registrars.getValue())
		{
			options_checker.dumpRegistrarsToConsole("edge");
			list_registrars = true;
		}

		if (list_optimizers.getValue())
		{
			options_checker.dumpOptimizersToConsole();
		}

		if (list_registrars || list_optimizers.getValue())
		{
			logger->logFmt(LVL_INFO, "Exiting.. ");
			return;
		}
	}

	// fetch the filenames
	// ini file
	string ini_fname = arg_ini_file.getValue();
	// rawlog file
	string rawlog_fname = arg_rawlog_file.getValue();

	// ground-truth file
	string ground_truth_fname;
	if (arg_ground_truth_file.isSet())
	{
		ground_truth_fname = arg_ground_truth_file.getValue();
	}

	if (disable_visuals.getValue())
	{  // enabling Visualization objects
		logger->logFmt(LVL_WARN, "Running on headless mode - Visuals disabled");
	}

	// fetch which registration deciders / optimizer to use
	string node_reg = arg_node_reg.getValue();
	string edge_reg = arg_edge_reg.getValue();
	string optimizer = arg_optimizer.getValue();
	logger->logFmt(LVL_INFO, "Node registration decider: %s", node_reg.c_str());
	logger->logFmt(LVL_INFO, "Edge registration decider: %s", edge_reg.c_str());
	logger->logFmt(LVL_INFO, "graphSLAM Optimizer: %s", optimizer.c_str());

	// CGraphSlamHandler initialization
	CGraphSlamHandler<GRAPH_T> graphslam_handler(
		logger, &options_checker, !disable_visuals.getValue());
	graphslam_handler.setFNames(ini_fname, rawlog_fname, ground_truth_fname);

	graphslam_handler.initEngine(node_reg, edge_reg, optimizer);
	graphslam_handler.printParams();
	graphslam_handler.execute();
}

int main(int argc, char* argv[])
{

cmd.parse( argc, argv );
cout.precision(12);

vec b(3), bpert(3), binhom(3); 
b(0)=bx.getValue(); 
b(1)=by.getValue();
b(2)=bz.getValue();
bpert=b;
binhom=(bepsilon.getValue(),0,0);
bpert(0)=b(0)+deltabx.getValue();
//binhom(0)=b(0)+deltabx.getValue()+bepsilon.getValue();

//Parametros de Ising

//Construccion de estado coherentre

cvec state, staterev, qustate;

qustate=BlochToQubit(theta.getValue(),phi.getValue());

state=TensorPow(qustate,qubits.getValue());

staterev=state;

//Lista de la fidelidad

vec list(steps.getValue());

for(int i=0;i<steps.getValue();i++){

list(i)=pow( abs( dot( conj(staterev),state)),2);

//cout<< pow( abs( dot( conj(staterev),state)),2) <<endl;

cout << list(i) <<endl;
// cout<< i<< " " << list(i) <<endl;

list(i)=sqrt(list(i));

apply_ising_allvsall(state, J.getValue());
//Symmetry Breaking
apply_ising_z(state, Jepsilon.getValue(),0,1);

apply_magnetic_inhom(state, b, b+binhom);

apply_ising_allvsall(staterev, J.getValue()+Jpert.getValue());
//Symmetry breaking for H_1
apply_ising_z(staterev, Jepsilon.getValue(),0,1);

apply_magnetic_inhom(staterev, bpert, bpert+binhom);

}
 
//fidelity.close();

//cout << staterev;

cout<< sum_positive_derivatives(list)<< endl;


}

// Main
// ////////////////////////////////////////////////////////////
int main(int argc, char **argv)
{
	// initializign the logger instance
	COutputLogger logger("graphslam-engine_app");
	logger.logging_enable_keep_record = true;

	try {

		bool showHelp		 = argc>1 && !os::_strcmp(argv[1],"--help");
		bool showVersion = argc>1 && !os::_strcmp(argv[1],"--version");

		// Instance for managing the available graphslam deciders optimizers
		TUserOptionsChecker graphslam_opts;

		// Input Validation
		if (!cmd_line.parse( argc, argv ) ||  showVersion || showHelp) {
			return 0;
		}
		// fetch the command line graphslam_opts
		// ////////////////////////////////////////////////////////////

		// decide whether to display the help messages for the deciders/optimizers
		{
			bool list_registrars = false;

			if (list_all_registrars.getValue()) {
				graphslam_opts.dumpRegistrarsToConsole("all");
				list_registrars = true;
			}
			if (list_node_registrars.getValue()) {
				graphslam_opts.dumpRegistrarsToConsole("node");
				list_registrars = true;
			}
			if (list_edge_registrars.getValue()) {
				graphslam_opts.dumpRegistrarsToConsole("edge");
				list_registrars = true;
			}

			if (list_optimizers.getValue()) {
				graphslam_opts.dumpOptimizersToConsole();
			}

			if (list_registrars || list_optimizers.getValue()) {
				logger.logFmt(LVL_INFO, "Exiting.. ");
				return 0;
			}
		}

		// fetch which registration deciders / optimizer to use
		string node_reg = arg_node_reg.getValue();
		string edge_reg = arg_edge_reg.getValue();
		string optimizer = arg_optimizer.getValue();
		ASSERTMSG_(graphslam_opts.checkRegistrationDeciderExists(node_reg, "node"),
				format("\nNode Registration Decider %s is not available.\n",
					node_reg.c_str()) );
		ASSERTMSG_(graphslam_opts.checkRegistrationDeciderExists(edge_reg, "edge"),
				format("\nEdge Registration Decider %s is not available.\n",
					edge_reg.c_str()) );
		ASSERTMSG_(graphslam_opts.checkOptimizerExists(optimizer),
				format("\nOptimizer %s is not available\n",
					optimizer.c_str()) );

		// fetch the filenames
		// ini file
		string ini_fname = arg_ini_file.getValue();
		// rawlog file
		string rawlog_fname = arg_rawlog_file.getValue();

		// ground-truth file
		string ground_truth_fname;
		if ( arg_ground_truth_file.isSet() ) {
			ground_truth_fname = arg_ground_truth_file.getValue();
		}

		if (disable_visuals.getValue()) { // enabling Visualization objects
			logger.logFmt(LVL_WARN, "Running on headless mode - Visuals disabled");
		}

		logger.logFmt(LVL_INFO, "Node registration decider: %s", node_reg.c_str());
		logger.logFmt(LVL_INFO, "Edge registration decider: %s", edge_reg.c_str());
		logger.logFmt(LVL_INFO, "graphSLAM Optimizer: %s", optimizer.c_str());

		// CGraphSlamHandler initialization
		CGraphSlamHandler graphslam_handler;
		graphslam_handler.setOutputLoggerPtr(&logger);
		graphslam_handler.readConfigFname(ini_fname);
		graphslam_handler.setRawlogFname(rawlog_fname);

		// Visuals initialization
		if (!disable_visuals.getValue()) {
			graphslam_handler.initVisualization();
		}

		// CGraphSlamEngine initialization
		CGraphSlamEngine<CNetworkOfPoses2DInf> graphslam_engine(
				ini_fname,
				rawlog_fname,
				ground_truth_fname,
//.........这里部分代码省略.........

	std::string outFilename = outFilenameArg.getValue();

	std::cout << "Loading file '" << inFilename << "' ..."; std::cout.flush();
	M4D::Imaging::AImage::Ptr image = 
			M4D::Imaging::ImageFactory::LoadDumpedImage( inFilename );
	std::cout << "Done\n";


	std::cout << "Initializing..."; std::cout.flush();
	M4D::Imaging::PipelineContainer *container = NULL;
	FinishHook  *hook = new FinishHook;
	M4D::Imaging::ConnectionInterfaceTyped< M4D::Imaging::AImage > *inConnection = NULL;
	M4D::Imaging::ConnectionInterfaceTyped< M4D::Imaging::AImage > *outConnection = NULL;
	M4D::Imaging::APipeFilter *filter = NULL;
	/*---------------------------------------------------------------------*/
	double bottom = bottomArg.getValue();
	double top = topArg.getValue();
	IMAGE_NUMERIC_TYPE_PTR_SWITCH_MACRO( image, 
		M4D::Imaging::ClampFilter<IMAGE_TYPE> *tfilter = new M4D::Imaging::ClampFilter<IMAGE_TYPE>();
		tfilter->SetBottom( static_cast<TTYPE>( bottom ) );
		tfilter->SetTop( static_cast<TTYPE>( top ) );
		filter = tfilter;
	);

	/*---------------------------------------------------------------------*/
	container = PrepareSimplePipeline( *filter, M4D::Imaging::MessageReceiverInterface::Ptr( hook ), inConnection, outConnection );
	//container = PreparePipeline<ImageType>( *filter, M4D::Imaging::MessageReceiverInterface::Ptr( hook ), inConnection, outConnection );
	
	inConnection->PutDataset( image );

	std::cout << "Done\n";