bt2vrml.cpp
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * https://octomap.github.io/
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5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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33 
34 #include <octomap/octomap.h>
35 #include <fstream>
36 #include <iostream>
37 #include <string.h>
38 #include <stdlib.h>
39 #include <list>
40 
41 using namespace std;
42 using namespace octomap;
43 
44 void printUsage(char* self){
45  std::cerr << "\nUSAGE: " << self << " input.bt\n\n";
46 
47  std::cerr << "This tool will convert the occupied voxels of a binary OctoMap \n"
48  "file input.bt to a VRML2.0 file input.bt.wrl.\n\n";
49 
50  std::cerr << "WARNING: The output files will be quite large!\n\n";
51 
52  exit(0);
53 }
54 
55 int main(int argc, char** argv) {
56  // default values:
57  string vrmlFilename = "";
58  string btFilename = "";
59 
60  if (argc != 2 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
61  printUsage(argv[0]);
62  }
63 
64  btFilename = std::string(argv[1]);
65  vrmlFilename = btFilename + ".wrl";
66 
67 
68  cout << "\nReading OcTree file\n===========================\n";
69  // TODO: check if file exists and if OcTree read correctly?
70  OcTree* tree = new OcTree(btFilename);
71 
72 
73  cout << "\nWriting occupied volumes to VRML\n===========================\n";
74 
75  std::ofstream outfile (vrmlFilename.c_str());
76 
77  outfile << "#VRML V2.0 utf8\n#\n";
78  outfile << "# created from OctoMap file "<<btFilename<< " with bt2vrml\n";
79 
80 
81  size_t count(0);
82  for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
83  if(tree->isNodeOccupied(*it)){
84  count++;
85  double size = it.getSize();
86  outfile << "Transform { translation "
87  << it.getX() << " " << it.getY() << " " << it.getZ()
88  << " \n children ["
89  << " Shape { geometry Box { size "
90  << size << " " << size << " " << size << "} } ]\n"
91  << "}\n";
92  }
93  }
94 
95  delete tree;
96 
97  outfile.close();
98 
99  std::cout << "Finished writing "<< count << " voxels to " << vrmlFilename << std::endl;
100 
101  return 0;
102 }
main
int main(int argc, char **argv)
Definition: bt2vrml.cpp:55
octomap::OcTree
Definition: OcTree.h:49
octomap::AbstractOccupancyOcTree::isNodeOccupied
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy"
Definition: AbstractOccupancyOcTree.h:114
octomap.h
octomap::OcTreeBaseImpl::begin
iterator begin(unsigned char maxDepth=0) const
Definition: OcTreeBaseImpl.h:327
printUsage
void printUsage(char *self)
Definition: bt2vrml.cpp:44
octomap::OcTreeBaseImpl::end
const iterator end() const
Definition: OcTreeBaseImpl.h:329
octomap


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Tue Dec 12 2023 03:39:40