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();
}

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;
}

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 rawlog-edit
// ======================================================================
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("","externalize",
			"Op: convert to external storage.\n"
			"Requires: -o (or --output)\n"
			"Optional: --image-format, --txt-externals",cmd, false) );
		ops_functors["externalize"] = &op_externalize;

		arg_ops.push_back(new TCLAP::SwitchArg("","info",
			"Op: parse input file and dump information and statistics.",cmd, false) );
		ops_functors["info"] = &op_info;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-images",
			"Op: dump a list of all external image files in the dataset.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-images"] = &op_list_images;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-poses",
			"Op: dump a list of all the poses of the observations in the dataset.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-poses"] = &op_list_poses;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-timestamps",
			"Op: generates a list with all the observations' timestamp, sensor label and C++ class name.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-timestamps"] = &op_list_timestamps;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remap-timestamps",
			"Op: Change all timestamps t replacing it with the linear map 'a*t+b'."
			"The parameters 'a' and 'b' must be given separated with a semicolon.\n"
			"Requires: -o (or --output)",false,"","a;b",cmd) );
		ops_functors["remap-timestamps"] = &op_remap_timestamps;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-range-bearing",
			"Op: dump a list of all landmark observations of type range-bearing.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-range-bearing"] = &op_list_rangebearing;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remove-label",
			"Op: Remove all observation matching the given sensor label(s)."
			"Several labels can be provided separated by commas.\n"
			"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
		ops_functors["remove-label"] = &op_remove_label;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","keep-label",
			"Op: Remove all observations not matching the given sensor label(s)."
			"Several labels can be provided separated by commas.\n"
			"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
		ops_functors["keep-label"] = &op_keep_label;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-kml",
			"Op: Export GPS paths to Google Earth KML files.\n"
			"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
			"The generated .kml files will be saved in the same path than the input rawlog, with the same "
			"filename + each sensorLabel."
			,cmd,false) );
		ops_functors["export-gps-kml"] = &op_export_gps_kml;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-gas-kml",
			"Op: Export GPS paths to Google Earth KML files coloured by the gas concentration.\n"
			"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
			"The generated .kml files will be saved in the same path than the input rawlog, with the same "
			"filename + each sensorLabel."
			,cmd,false) );
		ops_functors["export-gps-gas-kml"] = &op_export_gps_gas_kml;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-txt",
			"Op: Export GPS GPGGA messages to TXT files.\n"
			"Generates one .txt file for each different sensor label of GPS observations in the dataset. "
			"The generated .txt files will be saved in the same path than the input rawlog, with the same "
			"filename + each sensorLabel."
			,cmd,false) );
		ops_functors["export-gps-txt"] = &op_export_gps_txt;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-all",
			"Op: Generic export all kinds of GPS/GNSS messages to separate TXT files.\n"
			"Generates one .txt file for each different sensor label and for each "
			"message type in the dataset, with a first header line describing each field."
			,cmd,false) );
		ops_functors["export-gps-all"] = &op_export_gps_all;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-imu-txt",
			"Op: Export IMU readings to TXT files.\n"
			"Generates one .txt file for each different sensor label of an IMU observation in the dataset. "
			"The generated .txt files will be saved in the same path than the input rawlog, with the same "
//.........这里部分代码省略.........

static std::unique_ptr<cMemorySettingsRepository> ParseArguments(int argc, char ** argv)
{
	try
	{
		// Parse the comand line args:
		TCLAP::CmdLine cmd("Cuberite");
		TCLAP::ValueArg<int> slotsArg    ("s", "max-players",         "Maximum number of slots for the server to use, overrides setting in setting.ini", false, -1, "number", cmd);
		TCLAP::MultiArg<int> portsArg    ("p", "port",                "The port number the server should listen to", false, "port", cmd);
		TCLAP::SwitchArg commLogArg      ("",  "log-comm",            "Log server client communications to file", cmd);
		TCLAP::SwitchArg commLogInArg    ("",  "log-comm-in",         "Log inbound server client communications to file", cmd);
		TCLAP::SwitchArg commLogOutArg   ("",  "log-comm-out",        "Log outbound server client communications to file", cmd);
		TCLAP::SwitchArg crashDumpFull   ("",  "crash-dump-full",     "Crashdumps created by the server will contain full server memory", cmd);
		TCLAP::SwitchArg crashDumpGlobals("",  "crash-dump-globals",  "Crashdumps created by the server will contain the global variables' values", cmd);
		TCLAP::SwitchArg noBufArg        ("",  "no-output-buffering", "Disable output buffering", cmd);
		TCLAP::SwitchArg runAsServiceArg ("d", "service",             "Run as a service on Windows, or daemon on UNIX like systems", cmd);
		cmd.parse(argc, argv);

		// Copy the parsed args' values into a settings repository:
		auto repo = cpp14::make_unique<cMemorySettingsRepository>();
		if (slotsArg.isSet())
		{
			int slots = slotsArg.getValue();
			repo->AddValue("Server", "MaxPlayers", static_cast<Int64>(slots));
		}
		if (portsArg.isSet())
		{
			for (auto port: portsArg.getValue())
			{
				repo->AddValue("Server", "Port", static_cast<Int64>(port));
			}
		}
		if (commLogArg.getValue())
		{
			g_ShouldLogCommIn = true;
			g_ShouldLogCommOut = true;
		}
		else
		{
			g_ShouldLogCommIn = commLogInArg.getValue();
			g_ShouldLogCommOut = commLogOutArg.getValue();
		}
		if (noBufArg.getValue())
		{
			setvbuf(stdout, nullptr, _IONBF, 0);
		}
		repo->SetReadOnly();

		// Set the service flag directly to cRoot:
		if (runAsServiceArg.getValue())
		{
			cRoot::m_RunAsService = true;
		}

		// Apply the CrashDump flags for platforms that support them:
		#if defined(_WIN32) && !defined(_WIN64) && defined(_MSC_VER)  // 32-bit Windows app compiled in MSVC
			if (crashDumpGlobals.getValue())
			{
				g_DumpFlags = static_cast<MINIDUMP_TYPE>(g_DumpFlags | MiniDumpWithDataSegs);
			}
			if (crashDumpFull.getValue())
			{
				g_DumpFlags = static_cast<MINIDUMP_TYPE>(g_DumpFlags | MiniDumpWithFullMemory);
			}
		#endif  // 32-bit Windows app compiled in MSVC

		return repo;
	}
	catch (const TCLAP::ArgException & exc)
	{
		printf("Error reading command line %s for arg %s", exc.error().c_str(), exc.argId().c_str());
		return cpp14::make_unique<cMemorySettingsRepository>();
	}
}

typedef Image< uint8, 2 > ImageType;

int
main( int argc, char **argv )
{
	std::ofstream logFile( "Log.txt" );
        SET_LOUT( logFile );

        D_COMMAND( std::ofstream debugFile( "Debug.txt" ); );
        SET_DOUT( debugFile );

	TCLAP::CmdLine cmd( "Canny edge detector.", ' ', "");
	/*---------------------------------------------------------------------*/

		//Define cmd arguments
	TCLAP::ValueArg<double> lowThresholdArg( "l", "low", "Low threshold value", false, 0.5, "Value relative to high threshold" );
	cmd.add( lowThresholdArg );

	TCLAP::ValueArg<double> highThresholdArg( "t", "high", "High threshold value", false, 0.5, "" );
	cmd.add( highThresholdArg );

	/*---------------------------------------------------------------------*/
	TCLAP::UnlabeledValueArg<std::string> inFilenameArg( "input", "Input image filename", true, "", "filename1" );
	cmd.add( inFilenameArg );

	TCLAP::UnlabeledValueArg<std::string> outFilenameArg( "output", "Output image filename", true, "", "filename2" );
	cmd.add( outFilenameArg );

	cmd.parse( argc, argv );

	/***************************************************/

// ======================================================================
//     main() of rawlog-edit
// ======================================================================
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("","externalize",
			"Op: convert to external storage.\n"
			"Requires: -o (or --output)\n"
			"Optional: --image-format",cmd, false) );
		ops_functors["externalize"] = &op_externalize;

		arg_ops.push_back(new TCLAP::SwitchArg("","info",
			"Op: parse input file and dump information and statistics.",cmd, false) );
		ops_functors["info"] = &op_info;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-images",
			"Op: dump a list of all external image files in the dataset.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-images"] = &op_list_images;

		arg_ops.push_back(new TCLAP::SwitchArg("","list-range-bearing",
			"Op: dump a list of all landmark observations of type range-bearing.\n"
			"Optionally the output text file can be changed with --text-file-output."
			,cmd, false) );
		ops_functors["list-range-bearing"] = &op_list_rangebearing;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","remove-label",
			"Op: Remove all observation matching the given sensor label(s)."
			"Several labels can be provided separated by commas.\n"
			"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
		ops_functors["remove-label"] = &op_remove_label;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","keep-label",
			"Op: Remove all observations not matching the given sensor label(s)."
			"Several labels can be provided separated by commas.\n"
			"Requires: -o (or --output)",false,"","label[,label...]",cmd) );
		ops_functors["keep-label"] = &op_keep_label;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-kml",
			"Op: Export GPS paths to Google Earth KML files.\n"
			"Generates one .kml file with different sections for each different sensor label of GPS observations in the dataset. "
			"The generated .kml files will be saved in the same path than the input rawlog, with the same "
			"filename + each sensorLabel."
			,cmd,false) );
		ops_functors["export-gps-kml"] = &op_export_gps_kml;

		arg_ops.push_back(new TCLAP::SwitchArg("","export-gps-txt",
			"Op: Export GPS readings to TXT files.\n"
			"Generates one .txt file for each different sensor label of GPS observations in the dataset. "
			"The generated .txt files will be saved in the same path than the input rawlog, with the same "
			"filename + each sensorLabel."
			,cmd,false) );
		ops_functors["export-gps-txt"] = &op_export_gps_txt;

		arg_ops.push_back(new TCLAP::SwitchArg("","cut",
			"Op: Cut a part of the input rawlog.\n"
			"Requires: -o (or --output)\n"
			"Requires: At least one of --from-index, --from-time, --to-index, --to-time. Use only one of the --from-* and --to-* at once.\n"
			"If only a --from-* is given, the rawlog will be saved up to its end. If only a --to-* is given, the rawlog will be saved from its beginning.\n"
			,cmd,false) );
		ops_functors["cut"] = &op_cut;

		arg_ops.push_back(new TCLAP::SwitchArg("","generate-3d-pointclouds",
			"Op: (re)generate the 3D pointclouds within CObservation3DRangeScan objects that have range data.\n"
			"Requires: -o (or --output)\n"
			,cmd,false));
		ops_functors["generate-3d-pointclouds"] = &op_generate_3d_pointclouds;

		arg_ops.push_back(new TCLAP::SwitchArg("","generate-pcd",
			"Op: Generate a PointCloud Library (PCL) PCD file with the point cloud for each sensor observation that can be converted into"
			" this representation: laser scans, 3D camera images, etc.\n"
			"May use: --out-dir to change the output directory (default: \"./\")\n"
			,cmd,false));
		ops_functors["generate-pcd"] = &op_generate_pcd;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","sensors-pose",
			"Op: batch change the poses of sensors from a rawlog-grabber-like configuration file that specifies the pose of sensors by their sensorLabel names.\n"
			"Requires: -o (or --output)\n",
			false,"","file.ini",cmd) );
		ops_functors["sensors-pose"] = &op_sensors_pose;

		arg_ops.push_back(new TCLAP::ValueArg<std::string>("","camera-params",
			"Op: change the camera parameters of all CObservationImage's with the given SENSOR_LABEL, with new params loaded from the given file, section '[CAMERA_PARAMS]'.\n"
			"Requires: -o (or --output)\n"
			,false,"","SENSOR_LABEL,file.ini",cmd) );
		ops_functors["camera-params"] = &op_camera_params;

		// --------------- End of list of possible operations --------

		// Parse arguments:
		if (!cmd.parse( argc, argv ))
//.........这里部分代码省略.........

typedef Image< int16, 2 > ImageType;

int
main( int argc, char **argv )
{
	std::ofstream logFile( "Log.txt" );
        SET_LOUT( logFile );

        D_COMMAND( std::ofstream debugFile( "Debug.txt" ); );
        SET_DOUT( debugFile );

	TCLAP::CmdLine cmd( "Clamp filter.", ' ', "");
	/*---------------------------------------------------------------------*/

		//Define cmd arguments
		TCLAP::ValueArg<double> bottomArg( "b", "bottom", "Bottom clamp value", false, 0, "" );
		cmd.add( bottomArg );

		TCLAP::ValueArg<double>topArg( "t", "top", "Top clamp value", false, 2047, "" );
		cmd.add( topArg );

	/*---------------------------------------------------------------------*/
	TCLAP::UnlabeledValueArg<std::string> inFilenameArg( "input", "Input image filename", true, "", "filename1" );
	cmd.add( inFilenameArg );

	TCLAP::UnlabeledValueArg<std::string> outFilenameArg( "output", "Output image filename", true, "", "filename2" );
	cmd.add( outFilenameArg );

	cmd.parse( argc, argv );

	/***************************************************/

void VTOutput::usage(TCLAP::CmdLineInterface& c)
{
    std::string s = "";
    std::list<TCLAP::Arg*> args = c.getArgList();
    //prints unlabeled arument list first
    for (TCLAP::ArgListIterator it = args.begin(); it != args.end(); it++)
    {
        if (typeid(**it)==typeid(TCLAP::UnlabeledValueArg<std::string>))
        {
            TCLAP::UnlabeledValueArg<std::string> *i = (TCLAP::UnlabeledValueArg<std::string> *) (*it);
            s = i->getName();
        }
        else if (typeid(**it)==typeid(TCLAP::UnlabeledMultiArg<std::string>))
        {
            TCLAP::UnlabeledMultiArg<std::string> *i = (TCLAP::UnlabeledMultiArg<std::string> *) (*it);
            s = i->getName();
        }
    }

    std::clog << c.getProgramName() << " v" << c.getVersion() << "\n\n";
    std::clog << "description : " << c.getMessage() << "\n\n";
    std::clog << "usage : vt "  << c.getProgramName() << " [options] " << s << "\n\n";

    //prints rest of arguments
    for (TCLAP::ArgListIterator it = args.begin(); it != args.end(); it++)
    {
        if (it==args.begin())
        {
            std::clog << "options : ";
        }
        else
        {
            std::clog << "          ";
        }

        if (typeid(**it)==typeid(TCLAP::ValueArg<std::string>) ||
            typeid(**it)==typeid(TCLAP::ValueArg<uint32_t>) ||
            typeid(**it)==typeid(TCLAP::ValueArg<int32_t>) ||
            typeid(**it)==typeid(TCLAP::ValueArg<double>) ||
            typeid(**it)==typeid(TCLAP::ValueArg<float>))
        {
            TCLAP::ValueArg<std::string> *i = (TCLAP::ValueArg<std::string> *) (*it);

            std::clog  << "-" << i->getFlag()
                       << "  " << i->getDescription() << "\n";
        }
        else if (typeid(**it)==typeid(TCLAP::SwitchArg))
        {
            TCLAP::SwitchArg *i = (TCLAP::SwitchArg *) (*it);

            std::clog  << "-" << i->getFlag()
                       << "  " << i->getDescription() << "\n";
        }
        else if (typeid(**it)==typeid(TCLAP::UnlabeledValueArg<std::string>))
        {
            //ignored
        }
        else if (typeid(**it)==typeid(TCLAP::UnlabeledMultiArg<std::string>))
        {
            //ignored
        }
        else
        {
            std::clog << "oops, argument type not handled\n";
        }
    }

    std::clog  <<  "\n";
}

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

  /** Set up the command line arguments */
  TCLAP::CmdLine command ("Parition a graph based on sparsification",
                          ' ');
  TCLAP::SwitchArg randomSwitch ("r",
                                 "random",
                                 "Use a random graph",
                                 command,
                                 false);
  TCLAP::SwitchArg debugSwitch ("d",
                                "debug",
                                "Print debug messages",
                                 command,
                                 false);
  TCLAP::ValueArg<double> tRatio ("t",
                                  "t-ratio",
                                  "Tau ratio; how big can Tau be w.r.t N",
                                  true,
                                  2.0,
                                  "double");
  command.add (tRatio);
  TCLAP::ValueArg<double> sRatio ("s",
                                  "s-ratio",
                                  "Ratio for num samples to take w.r.t Tau",
                                  true,
                                  1.0,
                                  "double");
  command.add (sRatio);
  TCLAP::ValueArg<int> kSteps ("k",
                               "k-steps",
                               "The number of B.F.S steps for local graph",
                               true,
                               2,
                               "int");
  command.add (kSteps);
  TCLAP::ValueArg<int> nParts ("p",
                               "n-parts",
                               "The number of partitions to create",
                               true,
                               2,
                               "int");
  command.add (nParts);
  TCLAP::ValueArg<int> rSeed ("x",
                              "r-seed",
                              "The seed for the PRNG",
                               false,
                               0,
                               "int");
  command.add (rSeed);
  TCLAP::ValueArg<bool> isErdos ("g",
                                 "r-type",
                                 "Is this a Erdos-Renyi graph",
                                  false,
                                  false,
                                  "bool");
  command.add (isErdos);
  TCLAP::ValueArg<int> nVerts ("m",
                               "n-verts",
                               "The number of vertices to generate",
                               false,
                               10,
                               "int");
  command.add (nVerts);
  TCLAP::ValueArg<int> nEdges ("n",
                               "n-edges",
                               "The number of edges to generate",
                               false,
                               10*9,
                               "int");
  command.add (nEdges);
  TCLAP::ValueArg<double> minWeight ("l",
                                     "min-weight",
                                     "Minimum edge weight",
                                     false,
                                     1.0,
                                     "double");
  command.add (minWeight);
  TCLAP::ValueArg<double> maxWeight ("u",
                                     "max-weight",
                                     "Maximum edge weight",
                                     false,
                                     1.0,
                                     "double");
  command.add (maxWeight);
  TCLAP::ValueArg<std::string> fileType ("i",
                                         "input-file",
                                         "Type of the file to read",
                                         false,
                                         "MATRIX_MARKET",
                                         "string");
  command.add (fileType);
  TCLAP::ValueArg<std::string> fileName ("f",
                                         "file-name",
                                         "Name of the file to read",
                                         false,
                                         "",
                                         "string");
  command.add (fileName);

//.........这里部分代码省略.........

// ======================================================================
//   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 );
}

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 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;
} // }}}

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") { // {{{

// ======================================================================
//   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);
}

void thread_grabbing(TThreadParam& p)
{
	try
	{
		CFileGZOutputStream f_out_rawlog;
		if (arg_out_rawlog.isSet())
		{
			if (!f_out_rawlog.open(arg_out_rawlog.getValue()))
				THROW_EXCEPTION_FMT(
					"Error creating output rawlog file: %s",
					arg_out_rawlog.getValue().c_str());
		}
		auto arch = mrpt::serialization::archiveFrom(f_out_rawlog);

		mrpt::hwdrivers::CVelodyneScanner velodyne;

		if (arg_verbose.isSet()) velodyne.enableVerbose(true);

		// Set params:
		velodyne.setModelName(mrpt::typemeta::TEnumType<
							  mrpt::hwdrivers::CVelodyneScanner::model_t>::
								  name2value(arg_model.getValue()));
		if (arg_ip_filter.isSet())
			velodyne.setDeviceIP(
				arg_ip_filter.getValue());  // Default: from any IP
		if (arg_in_pcap.isSet())
			velodyne.setPCAPInputFile(arg_in_pcap.getValue());
		if (arg_out_pcap.isSet())
			velodyne.setPCAPOutputFile(arg_out_pcap.getValue());

		// If you have a calibration file, better than default values:
		if (arg_calib_file.isSet())
		{
			mrpt::obs::VelodyneCalibration calib;
			if (!calib.loadFromXMLFile(arg_calib_file.getValue()))
				throw std::runtime_error(
					"Aborting: error loading calibration file.");
			velodyne.setCalibration(calib);
		}

		// Open:
		cout << "Calling CVelodyneScanner::initialize()...";
		velodyne.initialize();
		cout << "OK\n";

		cout << "Waiting for first data packets (Press CTRL+C to abort)...\n";

		CTicTac tictac;
		int nScans = 0;
		bool hard_error = false;

		while (!hard_error && !p.quit)
		{
			// Grab new observations from the camera:
			CObservationVelodyneScan::Ptr
				obs;  // (initially empty) Smart pointers to observations
			CObservationGPS::Ptr obs_gps;

			hard_error = !velodyne.getNextObservation(obs, obs_gps);

			// Save to log file:
			if (f_out_rawlog.fileOpenCorrectly())
			{
				if (obs) arch << *obs;
				if (obs_gps) arch <<