#!/bin/bash

prefix=$1

json2matlab="ruby ../../csm/scripts/json2matlab.rb"
sm2="../../csm/sm/sm2"
carmen2pdf="../../csm/sm/carmen2pdf"
ld_remove_doubles="../../csm/sm/ld_remove_doubles"

pre="`basename $0`: "

if [ -e ${prefix}r.m ]
then
   echo "${pre} Using already present file ${prefix}r.m"
else
	echo "${pre} Preparing robot log in JSON format: ${prefix}r.dat.bz2 -> ${prefix}r.m "
	
	cat ${prefix}r.dat.bz2 | bunzip2 | ruby prepare_robot_log.rb | ${json2matlab}  - ${prefix}r 
	
	echo "${pre} Converting ${prefix}r.json to matlab file ${prefix}r.m"
fi

echo "${pre} Removing doubles  ${prefix}l.log ->  ${prefix}l.json"

echo "${pre} Scan matching:  ${prefix}l.json  -> ${prefix}l_sm.log,"

cat ${prefix}l.log.bz2 | bunzip2 |  ${ld_remove_doubles} -epsilon 0.03 | ld_slip -sigma_theta_deg 2 -sigma_xy 0.02 | ${sm2} -in stdin -out /dev/null -out_stats ${prefix}l_sm_stats.json -outliers_adaptive_order 0.99 -min_reading 0.05 -max_reading 2 -use_point_to_line_distance 1 -epsilon_xy 0.001 -max_iterations 50 2>/dev/null

echo "${pre} Converting ${prefix}l_sm_stats.json to Matlab file ${prefix}l_sm_stats.m"
${json2matlab} ${prefix}l_sm_stats.json