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.h" 00035 #include <string.h> 00036 #include <stdlib.h> 00037 #include <stdio.h> 00038 00039 using namespace std; 00040 using namespace octomap; 00041 using namespace octomath; 00042 00043 int main(int argc, char** argv) { 00044 00045 if (argc != 4) { 00046 printf("usage: in.graph offset out.graph\n"); 00047 exit(0); 00048 } 00049 00050 ScanGraph* graph = new ScanGraph(); 00051 graph->readBinary(argv[1]); 00052 00053 double offset = atof(argv[2]); 00054 Pose6D trans(0,0,-offset,0,0,0); 00055 00056 for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) { 00057 (*scan_it)->scan->transform(trans); 00058 (*scan_it)->pose *= trans.inv(); 00059 } 00060 00061 graph->writeBinary(argv[3]); 00062 00063 00064 }