log2graph.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 <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 }


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