Tool for extracting 2d maps from an 3d Octomap. More...
#include <octomap/octomap.h>#include <octomap/OcTree.h>#include <iomanip>#include "MapExtractor.h"
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Detailed Description
Tool for extracting 2d maps from an 3d Octomap.
MapExtractor.cpp extracts 2d maps from an 3d Octomap in two different modes. On the one hand, a simple 2d slice can be taken out of the Octomap and used as a map for localization. On the other hand, a 3d slice of the Octomap can be chosen to be projected down to a 2d map, which may be used for navigation. The latter mode is intended to be used to create 2d maps, that take obstacles into account, which are not visible to a base laser scanner.
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
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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.
- Version:
- 1.0
- Date:
- 2011
Definition in file MapExtractor.cpp.