intervals( const comma::command_line_options& options ) : options( options )
                                                         , csv( options )
                                                         , ocsv( options )
                                                         , ascii_csv( options )
                                                         , empty( traits< bound_type >::cast( options.optional< std::string >( "--empty" ) ) )
                                                         , intervals_only( options.exists( "--intervals-only" ) )
                                                         , use_limits( options.exists( "--limits,-l" ) )
 {
     if( csv.fields.empty() ) { csv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' ); }
     if( ocsv.fields.empty() || intervals_only )
     {
         ocsv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' );
         if( ocsv.binary() && ( intervals_only || append ) ) { ocsv.format( comma::csv::format::value< interval_t< From, To > >() ); }
     }
     ascii_csv.fields = ocsv.fields;
     ascii_csv.quote = boost::none;
     if( verbose ) { std::cerr << app_name << ": empty: "; empty ? std::cerr << *empty : std::cerr << "<none>"; std::cerr << std::endl; }
     options.assert_mutually_exclusive( "overlap-count-min,overlap-count-max", "overlap-count" );
     if( options.exists( "--overlap-count" ) )
     {
         min_overlap_count = max_overlap_count = options.value< unsigned int >( "--overlap-count" );
     }
     else
     {
         min_overlap_count = options.value( "--overlap-count-min", 0 );
         max_overlap_count = options.value( "--overlap-count-max", std::numeric_limits< unsigned int >::max() );
     }
 }

stereo::stereo ( const snark::imaging::camera_parser& left, const snark::imaging::camera_parser& right, unsigned int width, unsigned int height, const comma::csv::options& csv, bool input_rectified ):
    m_rotation( right.rotation() * left.rotation().transpose() ),
    m_translation( right.translation() - left.translation() ),
    m_rectify( left.camera(), left.distortion(), right.camera(), right.distortion(), width, height, m_rotation, m_translation, input_rectified ),
    m_input_rectified( input_rectified ),
    m_frame_counter( 0 )
{
    if( csv.binary() )
    {
        m_binary.reset( new comma::csv::binary< colored_point >( csv ) );
        m_output.resize( csv.format().size() );
    }
    else
    {
        m_ascii.reset( new comma::csv::ascii< colored_point >( csv ) );
    }
}

 intervals( const comma::command_line_options& options ) : options( options )
                                                         , csv( options )
                                                         , ocsv( options )
                                                         , ascii_csv( options )
                                                         , empty( traits< bound_type >::cast( options.optional< std::string >( "--empty" ) ) )
                                                         , intervals_only( options.exists( "--intervals-only" ) )
                                                         , use_limits( options.exists( "--limits,-l" ) )
 {
     if( csv.fields.empty() ) { csv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' ); }
     if( ocsv.fields.empty() || intervals_only )
     {
         ocsv.fields = comma::join( comma::csv::names< interval_t< From, To > >(), ',' );
         if( ocsv.binary() && intervals_only ) { ocsv.format( comma::csv::format::value< interval_t< From, To > >() ); }
     }
     ascii_csv.fields = ocsv.fields;
     ascii_csv.quote = boost::none;
     if( verbose ) { std::cerr << app_name << ": empty: "; empty ? std::cerr << *empty : std::cerr << "<none>"; std::cerr << std::endl; }
 }

disparity::disparity ( const snark::imaging::camera_parser& left, const snark::imaging::camera_parser& right, unsigned int width, unsigned int height, const comma::csv::options& csv, bool input_rectified ):
    m_rotation( right.rotation() * left.rotation().transpose() ),
    m_translation( right.translation() - left.translation() ),
    m_rectify( left.camera(), left.distortion(), right.camera(), right.distortion(), width, height, m_rotation, m_translation, input_rectified ),
    m_input_rectified( input_rectified ),
    m_serialization( csv.fields, csv.format() )
{

}

Reader::Reader( QGLView& viewer, comma::csv::options& options, std::size_t size, coloured* c, unsigned int pointSize, const std::string& label, const QVector3D& offset )
    : size( size )
    , pointSize( pointSize )
    , options( options )
    , m_viewer( viewer )
    , m_num_points( 0 )
    , m_colored( c )
    , m_shutdown( false )
    , m_isStdIn( options.filename == "-" )
    , m_show( true )
    , m_istream( options.filename, options.binary() ? comma::io::mode::binary : comma::io::mode::ascii, comma::io::mode::non_blocking )
    , updated_( false )
    , id_( 0 )
    , m_label( label )
    , m_offset( offset )
{
    std::vector< std::string > v = comma::split( options.fields, ',' ); // quick and dirty
}

frame::frame( const comma::csv::options& options, bool discardOutOfOrder, boost::optional< boost::posix_time::time_duration > maxGap, bool outputframe, bool to, bool interpolate, bool rotation_present )
    : outputframe( outputframe )
    , m_to( to )
    , m_interpolate( interpolate )
    , m_rotation( ::Eigen::Matrix3d::Identity() )
    , m_istream( new comma::io::istream( options.filename, options.binary() ? comma::io::mode::binary : comma::io::mode::ascii, comma::io::mode::blocking ) )
    , m_discardOutOfOrder( discardOutOfOrder )
    , m_maxGap( maxGap )
    , rotation_present_( rotation_present )
{
    m_is.reset( new comma::csv::input_stream< position_type >( *( *m_istream )(), options ) );
    const position_type* p = m_is->read(); // todo: maybe not very good, move to value()
    if( p == NULL ) { COMMA_THROW( comma::exception, "failed to read from " << options.filename ); }
    m_pair.first = *p;
    set_position( p->value );
    p = m_is->read(); // todo: maybe not very good, move to value()
    if( p == NULL ) { COMMA_THROW( comma::exception, "failed to read from " << options.filename ); }
    m_pair.second = *p;
}

int main( int ac, char** av )
{
    try
    {
        comma::signal_flag is_shutdown(comma::signal_flag::hard);
        comma::command_line_options options( ac, av, usage );

        if( options.exists( "--bash-completion" )) bash_completion( ac, av );
        options.assert_mutually_exclusive( "--by-lower,--by-upper,--nearest,--realtime" );
        if( options.exists( "--by-upper" )) { method = how::by_upper; }
        if( options.exists( "--nearest" )) { method = how::nearest; }
        if( options.exists( "--realtime" )) { method = how::realtime; }
        timestamp_only = options.exists( "--timestamp-only,--time-only" );
        select_only = options.exists( "--do-not-append,--select" );
        if( select_only && timestamp_only ) { std::cerr << "csv-time-join: --timestamp-only specified with --select, ignoring --timestamp-only" << std::endl; }
        bool discard_bounding = options.exists( "--discard-bounding" );
        boost::optional< unsigned int > buffer_size = options.optional< unsigned int >( "--buffer" );
        if( options.exists( "--bound" ) ) { bound = boost::posix_time::microseconds( static_cast<unsigned int>(options.value< double >( "--bound" ) * 1000000 )); }
        stdin_csv = comma::csv::options( options, "t" );

        std::vector< std::string > unnamed = options.unnamed(
            "--by-lower,--by-upper,--nearest,--realtime,--select,--do-not-append,--timestamp-only,--time-only,--discard-bounding",
            "--binary,-b,--delimiter,-d,--fields,-f,--bound,--buffer,--verbose,-v" );
        std::string properties;
        bool stdin_first = true;
        switch( unnamed.size() )
        {
            case 0:
                std::cerr << "csv-time-join: please specify bounding source" << std::endl;
                return 1;
            case 1:
                properties = unnamed[0];
                break;
            case 2:
                if( unnamed[0] == "-" ) { properties = unnamed[1]; }
                else if( unnamed[1] == "-" ) { properties = unnamed[0]; stdin_first = false; }
                else { std::cerr << "csv-time-join: expected either '- <bounding>' or '<bounding> -'; got : " << comma::join( unnamed, ' ' ) << std::endl; return 1; }
                break;
            default:
                std::cerr << "csv-time-join: expected either '- <bounding>' or '<bounding> -'; got : " << comma::join( unnamed, ' ' ) << std::endl;
                return 1;
        }
        comma::name_value::parser parser( "filename" );
        bounding_csv = parser.get< comma::csv::options >( properties );
        if( bounding_csv.fields.empty() ) { bounding_csv.fields = "t"; }

        comma::csv::input_stream< Point > stdin_stream( std::cin, stdin_csv );
        #ifdef WIN32
        if( stdin_csv.binary() ) { _setmode( _fileno( stdout ), _O_BINARY ); }
        #endif // #ifdef WIN32

        comma::io::istream bounding_istream( comma::split( properties, ';' )[0]
                                           , bounding_csv.binary() ? comma::io::mode::binary : comma::io::mode::ascii );
        comma::csv::input_stream< Point > bounding_stream( *bounding_istream, bounding_csv );

        #ifndef WIN32
        comma::io::select select;
        comma::io::select bounding_stream_select;
        select.read().add( 0 );
        select.read().add( bounding_istream.fd() );
        bounding_stream_select.read().add( bounding_istream.fd() );
        #endif // #ifndef WIN32

        const Point* p = NULL;

        if( method == how::realtime )
        {
            #ifndef WIN32
            bool end_of_input = false;
            bool end_of_bounds = false;
            
            boost::optional<timestring_t> joined_line;
            
            while (!is_shutdown && !end_of_input)
            {
                if ( !bounding_stream.ready() && !stdin_stream.ready() )
                {
                    select.wait(boost::posix_time::milliseconds(1));
                }
                
                if ( !is_shutdown && !end_of_input && ( stdin_stream.ready() || ( select.check() && select.read().ready( comma::io::stdin_fd ) ) ) )
                {
                    p = stdin_stream.read();
                    if( p )
                    {
                        timestring_t input_line = std::make_pair( get_time( *p ), stdin_stream.last() );
                        if( joined_line ) { output( input_line, *joined_line, stdin_first ); }
                    }
                    else
                    {
                        comma::verbose << "end of input stream" << std::endl;
                        end_of_input = true;
                    }
                }
                
                if ( !is_shutdown && !end_of_bounds &&
                   ( bounding_stream.ready() || ( select.check() && select.read().ready( bounding_istream.fd() ))))
                {
                    p = bounding_stream.read();
                    if( p )
//.........这里部分代码省略.........

int sort( const comma::command_line_options& options )
{
    input_t::map sorted_map;
    input_t default_input;
    std::vector< std::string > v = comma::split( stdin_csv.fields, ',' );
    std::vector< std::string > order = options.exists("--order") ? comma::split( options.value< std::string >( "--order" ), ',' ) : v;
    std::vector< std::string > w (v.size());
    bool unique = options.exists("--unique,-u");
    
    std::string first_line;
    comma::csv::format f;
    if( stdin_csv.binary() ) { f = stdin_csv.format(); }
    else if( options.exists( "--format" ) ) { f = comma::csv::format( options.value< std::string >( "--format" ) ); }
    else
    {
        while( std::cin.good() && first_line.empty() ) { std::getline( std::cin, first_line ); }
        if( first_line.empty() ) { return 0; }
        f = comma::csv::impl::unstructured::guess_format( first_line, stdin_csv.delimiter );
        if( verbose ) { std::cerr << "csv-sort: guessed format: " << f.string() << std::endl; }
    }
    for( std::size_t i = 0; i < order.size(); ++i ) // quick and dirty, wasteful, but who cares
    {
        if (order[i].empty()) continue;
        for( std::size_t k = 0; k < v.size(); ++k )
        {
            if( v[k].empty() || v[k] != order[i] ) 
            { 
                if ( k + 1 == v.size()) 
                { 
                    std::cerr << "csv-sort: order field name \"" << order[i] << "\" not found in input fields \"" << stdin_csv.fields << "\"" << std::endl;
                    return 1;
                }
                continue; 
            }
            std::string type = default_input.keys.append( f.offset( k ).type );
            w[k] = "keys/" + type;
            
            ordering_t o;
            if ( type[0] == 's' ) { o.type = ordering_t::str_type; o.index = default_input.keys.strings.size() - 1; }
            else if ( type[0] == 'l' ) { o.type = ordering_t::long_type; o.index = default_input.keys.longs.size() - 1; }
            else if ( type[0] == 'd' ) { o.type = ordering_t::double_type; o.index = default_input.keys.doubles.size() - 1; }
            else if ( type[0] == 't' ) { o.type = ordering_t::time_type; o.index = default_input.keys.time.size() - 1; }
            else { std::cerr << "csv-sort: cannot sort on field " << v[k] << " of type \"" << type << "\"" << std::endl; return 1; }
            
            ordering.push_back(o);
            
            break;
        }
    }
    stdin_csv.fields = comma::join( w, ',' );
    if ( verbose ) { std::cerr << "csv-sort: fields: " << stdin_csv.fields << std::endl; }
    comma::csv::input_stream< input_t > stdin_stream( std::cin, stdin_csv, default_input );
    #ifdef WIN32
    if( stdin_stream.is_binary() ) { _setmode( _fileno( stdout ), _O_BINARY ); }
    #endif
    
    if (!first_line.empty()) 
    { 
        input_t::map::mapped_type& d = sorted_map[ comma::csv::ascii< input_t >(stdin_csv,default_input).get(first_line) ];
        d.push_back( first_line + "\n" );
    }
    
    while( stdin_stream.ready() || ( std::cin.good() && !std::cin.eof() ) )
    {
        const input_t* p = stdin_stream.read();
        if( !p ) { break; }
        if( stdin_stream.is_binary() )
        {
            input_t::map::mapped_type& d = sorted_map[ *p ];
            if (unique && !d.empty()) continue;
            d.push_back( std::string() );
            d.back().resize( stdin_csv.format().size() );
            ::memcpy( &d.back()[0], stdin_stream.binary().last(), stdin_csv.format().size() );
        }
        else
        {
            input_t::map::mapped_type& d = sorted_map[ *p ];
            if (unique && !d.empty()) continue;
            d.push_back( comma::join( stdin_stream.ascii().last(), stdin_csv.delimiter ) + "\n" );
        }
    }
    
    if( options.exists( "--reverse,-r" ) ) { output_( sorted_map.rbegin(), sorted_map.rend() ); }
    else { output_( sorted_map.begin(), sorted_map.end() ); }
    
    return 0;
}

int main( int ac, char** av )
{
    try
    {
        comma::command_line_options options( ac, av );
        if( options.exists( "--help,-h" ) ) { usage(); }
        verbose = options.exists( "--verbose,-v" );
        bool is_or = options.exists( "--or" );
        csv = comma::csv::options( options );
        fields = comma::split( csv.fields, ',' );
        if( fields.size() == 1 && fields[0].empty() ) { fields.clear(); }
        std::vector< std::string > unnamed = options.unnamed( "--first-matching,--or,--sorted,--input-sorted,--not-matching,--output-all,--all,--strict,--verbose,-v", "-.*" );
        //for( unsigned int i = 0; i < unnamed.size(); constraints_map.insert( std::make_pair( comma::split( unnamed[i], ';' )[0], unnamed[i] ) ), ++i );
        bool strict = options.exists( "--strict" );
        bool first_matching = options.exists( "--first-matching" );
        bool not_matching = options.exists( "--not-matching" );
        bool all = options.exists( "--output-all,--all" );
        for( unsigned int i = 0; i < unnamed.size(); ++i )
        {
            std::string field = comma::split( unnamed[i], ';' )[0];
            bool found = false;
            for( unsigned int j = 0; j < fields.size() && !found; found = field == fields[j], ++j );
            if( !found )
            {
                if( strict ) { std::cerr << "csv-select: on constraint: \"" << unnamed[i] << "\" field \"" << field << "\" not found in fields: " << csv.fields << std::endl; return 1; }
                std::cerr << "csv-select: warning: on constraint: \"" << unnamed[i] << "\" field \"" << field << "\" not found in fields: " << csv.fields << std::endl;
                continue;
            }
            constraints_map.insert( std::make_pair( field, unnamed[i] ) );
        }
        comma::signal_flag is_shutdown;
        if( csv.binary() )
        {
            #ifdef WIN32
            _setmode( _fileno( stdout ), _O_BINARY );
            #endif
            init_input( csv.format(), options );
            comma::csv::binary_input_stream< input_t > istream( std::cin, csv, input );
            while( !is_shutdown && ( istream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
            {
                const input_t* p = istream.read();
                if( !p || p->done( is_or ) ) { break; }
                char match = ( p->is_a_match( is_or ) == !not_matching ) ? 1 : 0;
                if( match || all )
                {
                    std::cout.write( istream.last(), csv.format().size() );
                    if( all ) { std::cout.write( &match, 1 ); }
                    if( csv.flush ) { std::cout.flush(); }
                    if( first_matching ) { break; }
                }
            }
        }
        else
        {
            std::string line;
            while( !is_shutdown && std::cin.good() && !std::cin.eof() )
            {
                std::getline( std::cin, line );
                line = comma::strip( line, '\r' ); // windows, sigh...
                if( !line.empty() ) { break; }
            }
            if( line.empty() ) { return 0; }
            comma::csv::format format = options.exists( "--format" )
                                      ? comma::csv::format( options.value< std::string >( "--format" ) )
                                      : guess_format( line );
            init_input( format, options );
            comma::csv::ascii_input_stream< input_t > istream( std::cin, csv, input );
            // todo: quick and dirty: no time to debug why the commented section does not work (but that's the right way)
            std::istringstream iss( line );
            comma::csv::ascii_input_stream< input_t > isstream( iss, csv, input );
            const input_t* p = isstream.read();
            if( !p || p->done( is_or ) ) { return 0; }
            bool match = p->is_a_match( is_or ) == !not_matching;
            if( match || all )
            {
                std::cout << line;
                if( all ) { std::cout << csv.delimiter << match; }
                std::cout << std::endl;
                if( first_matching ) { return 0; }
            }
            while( !is_shutdown && ( istream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
            {
                const input_t* p = istream.read();
                if( !p || p->done( is_or ) ) { break; }
                bool match = p->is_a_match( is_or ) == !not_matching;
                if( match || all )
                {
                    std::cout << comma::join( istream.last(), csv.delimiter );
                    if( all ) { std::cout << csv.delimiter << match; }
                    std::cout << std::endl;
                    if( first_matching ) { return 0; }
                }
            }
        }
        return 0;
    }
    catch( std::exception& ex ) { std::cerr << "csv-select: caught: " << ex.what() << std::endl; }
    catch( ... ) { std::cerr << "csv-select: unknown exception" << std::endl; }
    return 1;
}

CameraReader::CameraReader( comma::csv::options& options )
    : options( options )
    , m_shutdown( false )
    , m_istream( options.filename, options.binary() ? comma::io::mode::binary : comma::io::mode::ascii )
{
}

int main( int ac, char** av )
{
    int result = 0;
    try
    {
        comma::command_line_options options( ac, av );
        if( options.exists( "--help,-h" ) ) { usage(); }
        verbose = options.exists( "--verbose,-v" );
        csv = comma::csv::options( options, "values" );
        csv.full_xpath = true;
        row_number_offset = options.value( "--row-number-offset,--offset", 0 );
        polar = options.exists( "--polar" );
        as_radians = !options.exists( "--degrees" );
        clockwise = options.exists( "--clockwise" );
        offset_from_center = options.value( "--offset-from-center", 0 ); // quick and dirty
        z_up = options.value< std::string >( "--z", "up" ) == "up";
        sign = ( z_up && !clockwise ) || ( !z_up && clockwise ) ? 1 : -1;
        if( options.exists( "--fps" ) ) { dial_size = options.value( "--dial-size,--dial", 0 ); }
        std::string s = options.value< std::string >( "--size" );
        std::vector< std::string > v = comma::split( s, ',' );
        if( v.size() != 2 && v.size() != 3 ) { std::cerr << "image-accumulate: expected --size=<value>; got \"" << s << "\"" << std::endl; return 1; }
        block_size = boost::lexical_cast< unsigned int >( v[0] );
        row_size = boost::lexical_cast< unsigned int >( v[1] );
        scale = comma::csv::ascii< std::pair< double, double > >().get( options.value< std::string >( "--scale", "0,255" ) );
        scaled< unsigned char > scaled( scale );
        fps = options.optional< double >( "--fps" );
        sin_cos = precomputed_sin_cos_();
        channel::options default_channel_options( options );
        std::vector< channel::options > channel_options;
        if( csv.has_field( "id" ) )
        {
            const std::vector< std::string >& v = options.values< std::string >( "--id" );
            if( v.empty() ) { std::cerr << "image-accumulate: 'id' field given, please specify at least one --id" << std::endl; return 1; }
            for( unsigned int i = 0; i < v.size(); ++i )
            {
                channel_options.push_back( comma::name_value::parser( ';', '=' ).get< channel::options >( v[i], default_channel_options ) );
                ids[ boost::lexical_cast< unsigned int >( comma::split( v[i], ';' )[0] ) ] = i;
            }
        }
        else
        {
            ids[0] = 0;
            channel_options.push_back( default_channel_options );
        }
        in.values.resize( row_size );
        has_block = csv.has_field( "block" );
        has_row = csv.has_field( "row" );
        has_angle = csv.has_field( "angle" );
        if( has_row && has_angle ) { std::cerr << "image-accumulate: in input fields, expected either 'row' or 'angle'; got both" << std::endl; return 1; }
        comma::csv::input_stream< input > istream( std::cin, csv, in ); // todo: watch performance!
        std::string default_output_options = "no-header;rows=" + boost::lexical_cast< std::string >( polar ? row_size * 2 + 1 : block_size ) + ";cols=" + boost::lexical_cast< std::string >( polar ? ( row_size * 2 + 1 ) * ids.size() : row_size * ids.size() ) + ";type=3ub";
        std::string output_options_string = options.value( "--output", default_output_options );
        output_options = comma::name_value::parser( ';', '=' ).get< snark::cv_mat::serialization::options >( output_options_string );
        if( options.exists( "--output-options" ) ) { std::cout << comma::name_value::parser( ';', '=' ).put< snark::cv_mat::serialization::options >( output_options ) << std::endl; return 0; }
        serialization.reset( new snark::cv_mat::serialization( output_options ) );
        image = cv::Mat::zeros( block_size, row_size * ids.size(), output_options.get_header().type );
        pixel_size = output_options.get_header().type == CV_8UC3 ? 3 : 1; // quick and dirty
        boost::ptr_vector< channel > channels;
        for( unsigned int i = 0; i < ids.size(); ++i ) { channels.push_back( new channel( i, channel_options[i] ) ); }
        if( fps ) { output_thread.reset( new boost::thread( &output_ ) ); }
        while( !is_shutdown && std::cin.good() && !std::cin.eof() )
        {
            const input* p = istream.read();
            if( p )
            {
                Ids::const_iterator it = ids.find( p->id );
                if( it == ids.end() ) { continue; }
                if( !channels[ it->second ].draw( p ) ) { break; }
            }
            else
            {
                for( Ids::const_iterator it = ids.begin(); it != ids.end(); ++it )
                {
                    channels[ it->second ].draw( p );
                }
                break;
            }
        }
    }
    catch( std::exception& ex )
    {
        std::cerr << "image-accumulate: " << ex.what() << std::endl;
        result = 1;
    }
    catch( ... )
    {
        std::cerr << "image-accumulate: unknown exception" << std::endl;
        result = 1;
    }
    done = true;
    if( fps ) { output_thread->join(); }
    return result;
}

static void calculate_distance_next()
{
    comma::csv::input_stream< Eigen::Vector3d > istream( std::cin, csv );
    boost::optional< Eigen::Vector3d > last;
    while( istream.ready() || ( std::cin.good() && !std::cin.eof() ) )
    {
        const Eigen::Vector3d* p = istream.read();
        if( !p ) { break; }
        if( last )
        {
            double distance = ( *p - *last ).norm();
            if( csv.binary() ) { std::cout.write( reinterpret_cast< const char* >( &distance ), sizeof( double ) ); }
            else { std::cout << csv.delimiter << distance << std::endl; }
        }
        if( csv.binary() ) { std::cout.write( istream.binary().last(), istream.binary().binary().format().size() ); }
        else { std::cout << comma::join( istream.ascii().last(), csv.delimiter ); }
        last = *p;
    }
    if( last )
    {
        double fake_final_distance = 0;
        if( csv.binary() ) { std::cout.write( reinterpret_cast< const char* >( &fake_final_distance ), sizeof( double ) ); }
        else { std::cout << csv.delimiter << fake_final_distance << std::endl; }
    }
}

template < typename It > static void output_( It it, It end )
{
    for( ; it != end; ++it )
    {
        for( std::size_t i = 0; i < it->second.size() ; ++i )
        {
            std::cout.write( &( it->second[i][0] ), stdin_csv.binary() ? stdin_csv.format().size() : it->second[i].length() );
            if( stdin_csv.flush ) { std::cout.flush(); }
        }
    }
}

static block_t* read_block_impl_( ::tbb::flow_control* flow = NULL )
{
    static boost::array< block_t, 3 > blocks;
    static boost::optional< block_t::pair_t > last;
    static comma::uint32 block_id = 0;
    block_t::pairs_t* points = new block_t::pairs_t;
    while( true ) // quick and dirty, only if --discard
    {
        static comma::csv::input_stream< input_t > istream( std::cin, csv );
        points->clear();
        while( true )
        {
            if( last )
            {
                block_id = last->first.block;
                points->push_back( *last );
                last.reset();
            }
            if( is_shutdown || std::cout.bad() || std::cin.bad() || std::cin.eof() )
            {
                if( bursty_reader ) { bursty_reader->stop(); } // quick and dirty, it sucks...
                if( flow ) { flow->stop(); }
                break;
            }
            const input_t* p = istream.read();
            if( !p ) { break; }
            std::string line;
            if( csv.binary() )
            {
                line.resize( csv.format().size() );
                ::memcpy( &line[0], istream.binary().last(), csv.format().size() );
            }
            else
            {
                line = comma::join( istream.ascii().last(), csv.delimiter );
            }
            last = std::make_pair( *p, line );
            if( p->block != block_id ) { break; }
        }
        for( unsigned int i = 0; i < blocks.size(); ++i )
        {
            if( !blocks[i].empty ) { continue; }
            blocks[i].clear();
            blocks[i].id = block_id;
            blocks[i].points.reset( points );
            blocks[i].empty = false;
            return &blocks[i];
        }
    }
}

static void thin( double resolution )
{
    comma::csv::input_stream< Eigen::Vector3d > istream( std::cin, csv );
    boost::optional< Eigen::Vector3d > last;
    double distance = 0;
    while( istream.ready() || ( std::cin.good() && !std::cin.eof() ) )
    {
        const Eigen::Vector3d* p = istream.read();
        if( !p ) { break; }
        distance += last ? ( *p - *last ).norm() : 0;
        if( !last || distance >= resolution )
        {
            distance = 0;
            if( csv.binary() )
            {
                std::cout.write( istream.binary().last(), istream.binary().binary().format().size() );
            }
            else
            {
                std::cout << comma::join( istream.ascii().last(), csv.delimiter ) << std::endl;
            }
        }
        last = *p;
    }
}

static void output_bounding( std::ostream& os, const timestring_t& bounding, bool stdin_first )
{
    if( !select_only )
    {
        if( stdin_csv.binary() )
        {
            if( timestamp_only )
            {
                static const unsigned int time_size = comma::csv::format::traits< boost::posix_time::ptime, comma::csv::format::time >::size;
                static char timestamp[ time_size ];
                comma::csv::format::traits< boost::posix_time::ptime, comma::csv::format::time >::to_bin( bounding.first, timestamp );
                os.write( (char*)&timestamp, time_size );
            }
            else
            {
                os.write( &bounding.second[0], bounding.second.size() );
            }
        }
        else
        {
            if( stdin_first ) { os << stdin_csv.delimiter; }
            os << ( timestamp_only ? boost::posix_time::to_iso_string( bounding.first ) : bounding.second );
            if( !stdin_first ) { os << stdin_csv.delimiter; }
        }
    }
}

void output_points(const Eigen::Vector3d& p1, const Eigen::Vector3d& p2)
{
    if( csv.binary() )
    {
        std::cout.write( reinterpret_cast< const char* >( &p1 ), sizeof( double ) * 3 );
        std::cout.write( reinterpret_cast< const char* >( &p2 ), sizeof( double ) * 3 );
        std::cout.flush();
    }
    else 
    {
        std::cout << ascii.put( p1 ) << csv.delimiter << ascii.put( p2 ) << std::endl; 
    }
}

    void run()
    {
        comma::csv::input_stream< interval_t< From, To > > istream( std::cin, csv );
        comma::csv::ascii< interval_t< std::string > > ascii( csv.fields );

        if( !first_line.empty() )
        {
            interval_t< From, To > interval = comma::csv::ascii< interval_t< From, To > >( csv.fields ).get( first_line );
            bound_t< bound_type > from( LOWER );
            bound_t< bound_type > to( UPPER );
            std::string payload;
            interval_t< std::string > first;
            ascii.get( first, first_line );
            if( !first.from.value.empty() && ( !empty || interval.from.value != *empty ) ) { from.value = interval.from.value; }
            if( !first.to.value.empty() && ( !empty || interval.to.value != *empty  ) ) { to.value = interval.to.value; }
            payload = first_line;
            if( !intervals_only ) { ascii.put( interval_t< std::string >(), payload ); } // blank out interval from payload
            if( verbose ) { std::cerr << app_name << ": from: " << from << " to: " << to << " payload: " << payload << std::endl; }
            add( from, to, payload );
        }

        while( istream.ready() || std::cin.good()  )
        {
            const interval_t< From, To >* interval = istream.read();
            if( !interval ) { break; }
            bound_t< bound_type > from( LOWER );
            bound_t< bound_type > to( UPPER );
            std::string payload;
            if( csv.binary() )
            {
                if( !empty || interval->from.value != *empty ) { from.value = interval->from.value; }
                if( !empty || interval->to.value != *empty ) { to.value = interval->to.value; }
                std::vector< char > buf( istream.binary().last(), istream.binary().last() + istream.binary().size() );
                if( !intervals_only ) { istream.binary().binary().put( interval_t< From, To >(), &buf[0] ); } // blank out interval from payload
                payload = std::string( buf.begin(), buf.end() );
            }
            else
            {
                interval_t< std::string > last;
                ascii.get( last, istream.ascii().last() );
                if( !last.from.value.empty() && ( !empty || interval->from.value != *empty ) ) { from.value = interval->from.value; }
                if( !last.to.value.empty() && ( !empty || interval->to.value != *empty  ) ) { to.value = interval->to.value; }
                std::vector< std::string > buf( istream.ascii().last() );
                if( !intervals_only ) { ascii.put( interval_t< std::string >(), buf ); } // blank out interval from payload
                payload = comma::join( buf, csv.delimiter );
            }
            if( verbose ) { std::cerr << app_name << ": from: " << from << " to: " << to << " payload: " << ( csv.binary() ? "<binary>" : payload ) << std::endl; }
            add( from, to, payload );
        }
        write();
    }

static void calculate_distance_for_pairs()
{
    comma::csv::input_stream< point_pair_t > istream( std::cin, csv );
    while( istream.ready() || ( std::cin.good() && !std::cin.eof() ) )
    {
        const point_pair_t* p = istream.read();
        if( !p ) { break; }
        double norm = ( p->first - p->second ).norm();
        if( csv.binary() )
        {
            std::cout.write( istream.binary().last(), istream.binary().binary().format().size() );
            std::cout.write( reinterpret_cast< const char* >( &norm ), sizeof( double ) );
        }
        else
        {
            std::cout << comma::join( istream.ascii().last(), csv.delimiter ) << csv.delimiter << norm << std::endl;
        }
    }
}