convert_octree.cpp
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
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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/AbstractOcTree.h>
35 #include <octomap/OcTree.h>
36 #include <octomap/ColorOcTree.h>
37 #include <fstream>
38 #include <iostream>
39 #include <string.h>
40 #include <stdlib.h>
41 #include <list>
42 
43 using namespace std;
44 using namespace octomap;
45 
46 void printUsage(char* self){
47  std::cerr << "\nUSAGE: " << self << " input.(ot|bt|cot) [output.ot]\n\n";
48 
49  std::cerr << "This tool converts between OctoMap octree file formats, \n"
50  "e.g. to convert old legacy files to the new .ot format or to convert \n"
51  "between .bt and .ot files. The default output format is .ot.\n\n";
52 
53  exit(0);
54 }
55 
56 int main(int argc, char** argv) {
57  string inputFilename = "";
58  string outputFilename = "";
59 
60  if (argc < 2 || argc > 3 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
61  printUsage(argv[0]);
62  }
63 
64  inputFilename = std::string(argv[1]);
65  if (argc == 3)
66  outputFilename = std::string(argv[2]);
67  else{
68  outputFilename = inputFilename + ".ot";
69  }
70 
71 
72  cout << "\nReading OcTree file\n===========================\n";
73  std::ifstream file(inputFilename.c_str(), std::ios_base::in |std::ios_base::binary);
74 
75  if (!file.is_open()){
76  OCTOMAP_ERROR_STR("Filestream to "<< inputFilename << " not open, nothing read.");
77  exit(-1);
78  }
79 
80  std::istream::pos_type streampos = file.tellg();
81  AbstractOcTree* tree;
82 
83  // reading binary:
84  if (inputFilename.length() > 3 && (inputFilename.compare(inputFilename.length()-3, 3, ".bt") == 0)){
85  OcTree* binaryTree = new OcTree(0.1);
86 
87  if (binaryTree->readBinary(file) && binaryTree->size() > 1)
88  tree = binaryTree;
89  else {
90  OCTOMAP_ERROR_STR("Could not detect binary OcTree format in file.");
91  exit(-1);
92 
93  }
94  } else {
95  tree = AbstractOcTree::read(file);
96  if (!tree){
97  OCTOMAP_WARNING_STR("Could not detect OcTree in file, trying legacy formats.");
98  // TODO: check if .cot extension, try old format only then
99  // reset and try old ColorOcTree format:
100  file.clear(); // clear eofbit of istream
101  file.seekg(streampos);
102  ColorOcTree* colorTree = new ColorOcTree(0.1);
103  colorTree->readData(file);
104  if (colorTree->size() > 1 && file.good()){
105  OCTOMAP_WARNING_STR("Detected Binary ColorOcTree to convert. \nPlease check and update the new file header (resolution will likely be wrong).");
106  tree = colorTree;
107  } else{
108  delete colorTree;
109  std::cerr << "Error reading from file " << inputFilename << std::endl;
110  exit(-1);
111  }
112  }
113 
114 
115  }
116 
117  // close filestream
118  file.close();
119 
120 
121  if (outputFilename.length() > 3 && (outputFilename.compare(outputFilename.length()-3, 3, ".bt") == 0)){
122  std::cerr << "Writing binary (BonsaiTree) file" << std::endl;
123  AbstractOccupancyOcTree* octree = dynamic_cast<AbstractOccupancyOcTree*>(tree);
124  if (octree){
125  if (!octree->writeBinary(outputFilename)){
126  std::cerr << "Error writing to " << outputFilename << std::endl;
127  exit(-2);
128  }
129  } else {
130  std::cerr << "Error: Writing to .bt is not supported for this tree type: " << tree->getTreeType() << std::endl;
131  exit(-2);
132  }
133  } else{
134  std::cerr << "Writing general OcTree file" << std::endl;
135  if (!tree->write(outputFilename)){
136  std::cerr << "Error writing to " << outputFilename << std::endl;
137  exit(-2);
138  }
139  }
140 
141 
142 
143 
144 
145  std::cout << "Finished writing to " << outputFilename << std::endl;
146 
147  return 0;
148 }
virtual std::string getTreeType() const =0
returns actual class name as string for identification
void printUsage(char *self)
bool writeBinary(const std::string &filename)
std::istream & readData(std::istream &s)
#define OCTOMAP_WARNING_STR(args)
Definition: octomap_types.h:77
int main(int argc, char **argv)
#define OCTOMAP_ERROR_STR(args)
Definition: octomap_types.h:79
virtual size_t size() const
bool write(const std::string &filename) const
Write file header and complete tree to file (serialization)


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32