/** @page binary__logtools

<h2>Logtools</h2>


@section logtools_log2pic_main Log2pic

This module provides a set of tools for working with logfiles

<h3>Usage: ./log2pic [options] \<log file\> \<output file\></h3>

<h3>[options] are:</h3>

  -anim-step \<STEP-SIZE\>:    min distance between scans 

  -anim-skip \<NUM\>:          skip NUM animation dumps (0: no skip)

  -animation:                write sep. pics for animation

  -background \<FILE\>:        use background file

  -bg-offset \<X\>\<Y\>:         shift by \<X\>/\<Y\> pixels

  -bg-color \<COLOR\>:         background color

  -bg-map \<FILE\>:            read carmen-map as background image

  -border \<BORDER\>:          add a border 

  -carmen-map:               save in carmen-map format

  -convolve:                 convolve map with gaussian kerne;

  -crop \<X\>\<Y\>\<X\>\<Y\>:        crop part of the map (min,max):

  -darken \<FACTOR\>:          darken the occ. cells

  -display-arrow:            display arrow in marking

  -endpoints:                use endpoints instead of beams

  -free-prob:                probability for free observation

  -from \<NUM\>:               start animation with scan NUM

  -gps-path:                 draw gps points

  -id \<ID\>:                  set laser number

  -kernel-size \<NUM\>:        size of the gaussian kernel (\>0 and odd)

  -maxrange \<MAX-RANGE\>:     max range for building maps

  -no-scans:                 don't integrate the scans

  -odds-model:               use odds-model to compute probs

  -pathcolor \<COLORNAME\>:    color of the robot path

  -pathwidth \<WIDTH\>:        width of the robot path

  -start-pose \<X\>\<Y\>\<O\>:     start pose of the robot

  -plot2d:                   save as 2d data file

  -plot3d:                   save map as 3d data file

  -pos-start \<X\>\<Y\>:         pos of lower left bg-corner

  -rear-laser:               use rear laser instead of front laser

  -res   \<RES\> \<RES\>:        resolution of the map

  -res-x \<RES\>:              resolution in x direction

  -res-y \<RES\>:              resolution in y direction

  -rotate \<ANGLE\>:           rotate the map by ANGLE degree

  -showpath:                 show robot path

  -size:                     set the size of the output image

  -static-prob:              probability for static observation

  -to \<NUM\>:                 end animation with scan NUM

  -usablerange \<MAX-RANGE\>:  max range for detecting corrupted beams

  -utm-correct:              corrects gps positions for UTM tiles

  -zoom \<ZOOM\>:              scale factor for the map (must be \>=1.0)



@section logtools_log2log_main Log2log


Log2log is a tool to convert logfiles. In reads the old as well as the new
carmen logfile format and write the new format. 

<h3>Usage: ./log2pic \<carmen input logfile\>   \<carmen output logfile\>  </h3>


@section logtools_clfgetoldlaser_main clf-get-oldlaser

This tools is a converter that generates the old FLASER messages for
the new ROBOTLASER messages. This may be needed for compatibility with
old programs.

<h3>Usage: ./clf-get-oldlaser \<carmen logfile\> \> \<old_format logfile\> </h3>





**/
