// ======================================================================
//     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.........

// ======================================================================
//     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.........

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(const int argc, const char* argv[]) {
  std::cout << "DatCC v0.2 created by pastelmind\n" << std::endl;
  datcc::setCurrentProgramDir(argv[0]);

  try {
    const char exampleStr[] = "EXAMPLES:"
      "\nDatCC -d -u ."
      "\n\tDecompiles the default units.dat file."
      "\nDatCC -c -w \"C:\\My Mod\\my weapons.ini\""
      "\n\tCompiles \"C:\\My Mod\\my weapons.ini\" into \"C:\\My Mod\\my weapons.dat\""
      "\nDatCC -c -t \"C:\\test\\tech.ini\" -b C:\\test\\techdata.dat"
      "\n\tCompiles \"C:\\test\\tech.ini\" into \"C:\\test\\tech.dat\", using C:\\test\\techdata.dat as the base DAT file"
      "\nDatCC -r -f \"example mod-flingy.dat\" output.ini"
      "\n\tCompares \"example mod-flingy.dat\" with the default flingy.dat and save the differences to output.ini";
    TCLAP::CmdLine cmd(exampleStr, ' ', "0.1");

    TCLAP::SwitchArg isCompileModeArg  ("c", "compile",   "Compiles INI files to DAT files.");
    TCLAP::SwitchArg isDecompileModeArg("d", "decompile", "Decompiles DAT files to INI files.");
    TCLAP::SwitchArg isCompareModeArg  ("r", "compare",   "Compares the DAT file with the base DAT file and decompiles the differences to an INI file");

    std::vector<TCLAP::Arg*> modeSwitchArgs;
    modeSwitchArgs.push_back(&isCompileModeArg);
    modeSwitchArgs.push_back(&isDecompileModeArg);
    modeSwitchArgs.push_back(&isCompareModeArg);
    cmd.xorAdd(modeSwitchArgs);

    TCLAP::ValueArg<std::string> baseDatArg("b", "basedat",
      "Base DAT file to use when compiling/comparing. If omitted, the default DAT files are used.",
      false, ".", "base file");
    cmd.add(baseDatArg);

    TCLAP::UnlabeledValueArg<std::string> inputFileArg("input",
      "In compile mode, specify the INI file to compile. In decompile or compare mode, specify the DAT file to decompile or compare. Use . to decompile the default DAT files.",
      true, "", "input file");
    cmd.add(inputFileArg);

    TCLAP::UnlabeledValueArg<std::string> outputFileArg("output",
      "Specify the output DAT file (in compile mode) or INI file (in decompile/compare mode). If omitted, the output file is named after the input file.",
      false, "", "output file");
    cmd.add(outputFileArg);

    TCLAP::SwitchArg useUnitsDatArg   ("u", "units",    "Operate on units.dat");
    TCLAP::SwitchArg useWeaponsDatArg ("w", "weapons",  "Operate on weapons.dat");
    TCLAP::SwitchArg useFlingyDatArg  ("f", "flingy",   "Operate on flingy.dat");
    TCLAP::SwitchArg useSpritesDatArg ("s", "sprites",  "Operate on sprites.dat");
    TCLAP::SwitchArg useImagesDatArg  ("i", "images",   "Operate on images.dat");
    TCLAP::SwitchArg useUpgradesDatArg("g", "upgrades", "Operate on upgrades.dat");
    TCLAP::SwitchArg useTechdataDatArg("t", "techdata", "Operate on techdata.dat");
    TCLAP::SwitchArg useSfxdataDatArg ("x", "sfxdata",  "Operate on sfxdata.dat");
    //TCLAP::SwitchArg usePortdataDatArg("p", "portdata", "Operate on portdata.dat (NOT SUPPORTED YET!)");
    //TCLAP::SwitchArg useMapdataDatArg ("m", "mapdata",  "Operate on mapdata.dat (NOT SUPPORTED YET)");
    TCLAP::SwitchArg useOrdersDatArg  ("o", "orders",   "Operate on orders.dat");

    std::vector<TCLAP::Arg*> datSwitchArgs;
    datSwitchArgs.push_back(&useUnitsDatArg);
    datSwitchArgs.push_back(&useWeaponsDatArg);
    datSwitchArgs.push_back(&useFlingyDatArg);
    datSwitchArgs.push_back(&useSpritesDatArg);
    datSwitchArgs.push_back(&useImagesDatArg);
    datSwitchArgs.push_back(&useUpgradesDatArg);
    datSwitchArgs.push_back(&useTechdataDatArg);
    datSwitchArgs.push_back(&useSfxdataDatArg);
    //datSwitchArgs.push_back(&usePortdataDatArg);
    //datSwitchArgs.push_back(&useMapdataDatArg);
    datSwitchArgs.push_back(&useOrdersDatArg);
    cmd.xorAdd(datSwitchArgs);

    cmd.parse(argc, argv);

    //-------- Main program logic start --------//

    datcc::loadData();

    if (isCompileModeArg.isSet()) {
      //Compile mode
      if (useUnitsDatArg.isSet())
        datcc::compileUnits(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useWeaponsDatArg.isSet())
        datcc::compileWeapons(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());
      
      else if (useFlingyDatArg.isSet())
        datcc::compileFlingy(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useSpritesDatArg.isSet())
        datcc::compileSprites(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useImagesDatArg.isSet())
        datcc::compileImages(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useUpgradesDatArg.isSet())
        datcc::compileUpgrades(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useTechdataDatArg.isSet())
        datcc::compileTechdata(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());

      else if (useSfxdataDatArg.isSet())
        datcc::compileSfxdata(inputFileArg.getValue(), outputFileArg.getValue(), baseDatArg.getValue());
      
      else if (useOrdersDatArg.isSet())
//.........这里部分代码省略.........

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.........

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>();
	}
}

// }}}
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 );
}

// 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");

		// Input Validation
		cmd_line.xorAdd(dim_2d, dim_3d);
		if (!cmd_line.parse(argc, argv) || showVersion || showHelp)
		{
			return 0;
		}

		// CGraphSlamEngine initialization
		if (dim_2d.getValue())
		{
			execGraphSlamEngine<CNetworkOfPoses2DInf>(&logger);
		}
		else
		{
			execGraphSlamEngine<CNetworkOfPoses3DInf>(&logger);
		}

		return 0;
	}
	catch (exception& e)
	{
		logger.logFmt(
			LVL_ERROR, "Program finished due to an exception!!\n%s\n",
			e.what());
		printf("%s", e.what());

		mrpt::system::pause();
		return -1;
	}
	catch (...)
	{
		logger.logFmt(
			LVL_ERROR, "Program finished due to an untyped exception!!");
		mrpt::system::pause();
		return -1;
	}

	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 == "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;
  } // }}}
  //}}}
} // }}}

// ======================================================================
//   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
	{
		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:
		// -------------