bt2vrml.cpp
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #include <octomap/octomap.h>
00035 #include <fstream>
00036 #include <iostream>
00037 #include <string.h>
00038 #include <stdlib.h>
00039 #include <list>
00040 
00041 using namespace std;
00042 using namespace octomap;
00043 
00044 void printUsage(char* self){
00045   std::cerr << "\nUSAGE: " << self << " input.bt\n\n";
00046 
00047   std::cerr << "This tool will convert the occupied voxels of a binary OctoMap \n"
00048       "file input.bt to a VRML2.0 file input.bt.wrl.\n\n";
00049 
00050   std::cerr << "WARNING: The output files will be quite large!\n\n";
00051 
00052   exit(0);
00053 }
00054 
00055 int main(int argc, char** argv) {
00056   // default values:
00057   string vrmlFilename = "";
00058   string btFilename = "";
00059 
00060   if (argc != 2 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
00061     printUsage(argv[0]);
00062   }
00063 
00064   btFilename = std::string(argv[1]);
00065   vrmlFilename = btFilename + ".wrl";
00066 
00067 
00068   cout << "\nReading OcTree file\n===========================\n";
00069   // TODO: check if file exists and if OcTree read correctly?
00070   OcTree* tree = new OcTree(btFilename);
00071 
00072 
00073   cout << "\nWriting occupied volumes to VRML\n===========================\n";
00074 
00075   std::ofstream outfile (vrmlFilename.c_str());
00076 
00077   outfile << "#VRML V2.0 utf8\n#\n";
00078   outfile << "# created from OctoMap file "<<btFilename<< " with bt2vrml\n";
00079 
00080 
00081   size_t count(0);
00082   for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
00083     if(tree->isNodeOccupied(*it)){
00084       count++;
00085       double size = it.getSize();
00086       outfile << "Transform { translation "
00087           << it.getX() << " " << it.getY() << " " << it.getZ()
00088           << " \n  children ["
00089           << " Shape { geometry Box { size "
00090           << size << " " << size << " " << size << "} } ]\n"
00091           << "}\n";
00092     }
00093   }
00094 
00095   delete tree;
00096 
00097   outfile.close();
00098 
00099   std::cout << "Finished writing "<< count << " voxels to " << vrmlFilename << std::endl;
00100 
00101 }


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Aug 27 2015 14:13:14