offset_graph.cpp
Go to the documentation of this file.
1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
4  *
5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
6  * All rights reserved.
7  * License: New BSD
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above copyright
15  * notice, this list of conditions and the following disclaimer in the
16  * documentation and/or other materials provided with the distribution.
17  * * Neither the name of the University of Freiburg nor the names of its
18  * contributors may be used to endorse or promote products derived from
19  * this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
25  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  */
33 
34 #include "octomap.h"
35 #include <string.h>
36 #include <stdlib.h>
37 #include <stdio.h>
38 
39 using namespace std;
40 using namespace octomap;
41 using namespace octomath;
42 
43 int main(int argc, char** argv) {
44 
45  if (argc != 4) {
46  printf("usage: in.graph offset out.graph\n");
47  exit(0);
48  }
49 
50  ScanGraph* graph = new ScanGraph();
51  graph->readBinary(argv[1]);
52 
53  double offset = atof(argv[2]);
54  Pose6D trans(0,0,-offset,0,0,0);
55 
56  for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
57  (*scan_it)->scan->transform(trans);
58  (*scan_it)->pose *= trans.inv();
59  }
60 
61  graph->writeBinary(argv[3]);
62 
63  return 0;
64 }
iterator begin()
Definition: ScanGraph.h:175
std::istream & readBinary(std::ifstream &s)
Definition: ScanGraph.cpp:365
std::ostream & writeBinary(std::ostream &s) const
Definition: ScanGraph.cpp:324
std::vector< ScanNode * >::iterator iterator
Definition: ScanGraph.h:173
Pose6D inv() const
Inversion.
Definition: Pose6D.cpp:65
iterator end()
Definition: ScanGraph.h:176
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
int main(int argc, char **argv)


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Jun 10 2019 14:00:13