Extract2dMap.cpp File Reference

Command line parser for the 2d map extractor tool. More...

#include <stdexcept>
#include <getopt.h>
#include "MapExtractor.h"

Include dependency graph for Extract2dMap.cpp:

Go to the source code of this file.

Defines
#define	USAGE
Functions
int	main (int argc, char **argv)

---

Detailed Description

Command line parser for the 2d map extractor tool.

Extract2dMap.cpp parses command line arguments and initiates the 2d map extraction process.

This file is part of the RoboEarth ROS re_2dmap_extractor package.

It was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.

Copyright (C) 2011 by Alexander Perzylo Technische Universitaet Muenchen

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Author:

Alexander Perzylo

Version:

1.0

Date:

2011

Definition in file Extract2dMap.cpp.

---

Define Documentation

#define USAGE

Value:

"\nUsage: \n" \
                "This program takes a 3d slice out of an Octomap and performs\n" \
                "a 2d projection (if parameters min_z and max_z are given) or\n" \
                "extracts a 2d map at height min_z (if max_z is missing)\n" \
                "and saves the result as an image. Related meta data \n" \
                "get stored in a seperate yaml file.\n" \
                "\nOptions:\n" \
                "-h, --help \tshow this description\n" \
                "-o, --octomap \t3d octomap to read and work on\n" \
                "-z, --min_z \tminimum height to consider for 2d projection\n" \
                "\t\t/ height to extract 2d map at\n" \
                "-Z, --max_z \tmaximum height to consider for 2d projection\n" \
                "-n, --name \tfilename without extension used for storing \n" \
                "\t\tresulting 2d image (.pgm) and meta data (.yaml)\n" \
                "\nExamples:\n" \
                "extract2dMap -z 0.303 -o hospital_room.bt -n hr_303\n" \
                "extract2dMap -z 0.2 -Z 1.5 -o hospital_room.bt -n hr_2to15\n" \
                "extract2dMap --min_z 0.2 --max_z 1.5 --octomap hospital_room.bt " \
                "--name hr_2to15\n"

Definition at line 56 of file Extract2dMap.cpp.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 76 of file Extract2dMap.cpp.