geotiff_saver.cpp
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00001 //=================================================================================================
00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #include <cstdio>
00030 #include "ros/ros.h"
00031 #include "ros/console.h"
00032 #include "nav_msgs/GetMap.h"
00033 #include "geometry_msgs/Quaternion.h"
00034 
00035 #include <Eigen/Geometry>
00036 
00037 #include <QtGui/QApplication>
00038 
00039 #include <hector_map_tools/HectorMapTools.h>
00040 
00041 #include <geotiff_writer/geotiff_writer.h>
00042 
00043 using namespace std;
00044 
00045 namespace hector_geotiff{
00046 
00050 class MapGenerator
00051 {
00052   public:
00053     MapGenerator(const std::string& mapname) : mapname_(mapname)
00054     {
00055       ros::NodeHandle n;
00056       ROS_INFO("Waiting for the map");
00057       map_sub_ = n.subscribe("map", 1, &MapGenerator::mapCallback, this);
00058     }
00059 
00060     void mapCallback(const nav_msgs::OccupancyGridConstPtr& map)
00061     {
00062       ros::Time start_time (ros::Time::now());
00063 
00064       geotiff_writer.setMapFileName(mapname_);
00065       geotiff_writer.setupTransforms(*map);
00066       geotiff_writer.drawBackgroundCheckerboard();
00067       geotiff_writer.drawMap(*map);
00068       geotiff_writer.drawCoords();
00069 
00070       geotiff_writer.writeGeotiffImage();
00071 
00072       ros::Duration elapsed_time (ros::Time::now() - start_time);
00073       ROS_INFO("GeoTiff created in %f seconds", elapsed_time.toSec());
00074     }
00075 
00076     GeotiffWriter geotiff_writer;
00077 
00078     std::string mapname_;
00079     ros::Subscriber map_sub_;
00080 };
00081 
00082 }
00083 
00084 #define USAGE "Usage: \n" \
00085               "  geotiff_saver -h\n"\
00086               "  geotiff_saver [-f <mapname>] [ROS remapping args]"
00087 
00088 int main(int argc, char** argv)
00089 {
00090   ros::init(argc, argv, "map_saver");
00091   std::string mapname = "map";
00092 
00093   for(int i=1; i<argc; i++)
00094   {
00095     if(!strcmp(argv[i], "-h"))
00096     {
00097       puts(USAGE);
00098       return 0;
00099     }
00100     else if(!strcmp(argv[i], "-f"))
00101     {
00102       if(++i < argc)
00103         mapname = argv[i];
00104       else
00105       {
00106         puts(USAGE);
00107         return 1;
00108       }
00109     }
00110     else
00111     {
00112       puts(USAGE);
00113       return 1;
00114     }
00115   }
00116 
00117   //GeotiffWriter geotiff_writer;
00118   //geotiff_writer.setMapName("test");
00119   hector_geotiff::MapGenerator mg(mapname);
00120 
00121   ros::spin();
00122 
00123   return 0;
00124 }
00125 
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hector_geotiff
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:52:18