Overview

Running LaserShow

  Make sure that /u/robot/flat-root/flat5 is in your CLASSPATH.

  % java flatutil.LaserShow [data-file] [number-of-lasers]

samples:

  % java flatutil.LaserShow /u/robot/flat-root/flat5/data/single-laser-1.data

  % java flatutil.LaserShow /u/robot/flat-root/flat5/data/dual-laser-1.data 2

Number of lasers is assumed to be one unless specified. The value can be 1 or 2. It is up to the user to verify that the data file contains the correct number of readings. At this time, the number of lasers can not be changed during a run.

In a two-laser configuration, the data file should be synchronized. That is, the readings should alternate LEFT and RIGHT, with an equal number of each. Also, the display will look unusual unless the robot's position is the same for each pair of readings.

User Controls

The first line displays the name of the current data file. Use the FILE button below to select a data file.
The second line displays the current image number and the total number of images. Following that is the number of data points in this scan.
The third line gives the robot's position and orientation (X, Y, theta) at the time the sensor scan was made.
Use the PREV and NEXT buttons to view another image.
The display contains either 1 or 2 scans, depending on the command-line argument.
Use the FILE button to select another data file.
Use the GIF button to create a GIF file containing a snapshot of the current image. In single-laser mode, one GIF file is created. In dual-laser mode, two GIF files are created, one for the LEFT and one for the RIGHT sensor. At this time, the program does not use default file names.
Use the ANIMATE button to replay the images as a movie. At this time, the speed of replay is not controllable.

Features that would be nice to add in the future

• The ability to change from single-laser to dual-laser mode while running the program. The program should really get the mode information from the data file. Perhaps it should be in the header?

• The ability to set a default file name pattern for the GIF files.
  For example, xyz-%scan-%laser.gif would produce filenames
  such as "xyz-37-left.gif" and "xyz-37-right.gif".

• A registration command to (intelligently) merge the two scans.
  This requires knowing the location of the two lasers, which can be obtained from the ".flat" file.

• Object recognition algorithms to recognize lines, walls, hallways and rooms.
  Associated with this feature would be the ability to save the "parsed data" to a file.