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 <string.h> 00036 #include <stdlib.h> 00037 00038 using namespace std; 00039 using namespace octomap; 00040 00041 void printUsage(char* self){ 00042 std::cerr << "\nUSAGE: " << self << " InputFile.log OutputFile.graph\n\n"; 00043 00044 std::cerr << "This tool converts a plain text log file into a binary scangraph file" << std::endl; 00045 std::cerr << "which can be used in Octomap.\n\n"; 00046 std::cerr << "The log file needs to be in the format of:\n" 00047 << "NODE x y z roll pitch yaw\n" 00048 << "x y z\nx y z\n...\n" 00049 << "NODE x y z roll pitch yaw\n" 00050 << "x y z\n...\n\n" 00051 << "Lines starting with '#' or empty lines are ignored.\n\n"; 00052 00053 exit(0); 00054 } 00055 00056 int main(int argc, char** argv) { 00057 // default values: 00058 string logFilename = ""; 00059 string graphFilename = ""; 00060 00061 00062 if (argc != 3){ 00063 printUsage(argv[0]); 00064 } else{ 00065 logFilename = std::string(argv[1]); 00066 graphFilename = std::string(argv[2]); 00067 } 00068 00069 cout << "\nReading Log file\n===========================\n"; 00070 ScanGraph* graph = new ScanGraph(); 00071 graph->readPlainASCII(logFilename); 00072 00073 cout << "\nWriting binary graph file\n===========================\n"; 00074 00075 graph->writeBinary(graphFilename); 00076 }