log2graph.cpp
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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
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33 
34 #include <octomap/octomap.h>
35 #include <string.h>
36 #include <stdlib.h>
37 
38 using namespace std;
39 using namespace octomap;
40 
41 void printUsage(char* self){
42  std::cerr << "\nUSAGE: " << self << " InputFile.log OutputFile.graph\n\n";
43 
44  std::cerr << "This tool converts a plain text log file into a binary scangraph file" << std::endl;
45  std::cerr << "which can be used in Octomap.\n\n";
46  std::cerr << "The log file needs to be in the format of:\n"
47  << "NODE x y z roll pitch yaw\n"
48  << "x y z\nx y z\n...\n"
49  << "NODE x y z roll pitch yaw\n"
50  << "x y z\n...\n\n"
51  << "Lines starting with '#' or empty lines are ignored.\n\n";
52 
53  exit(0);
54 }
55 
56 int main(int argc, char** argv) {
57  // default values:
58  string logFilename = "";
59  string graphFilename = "";
60 
61 
62  if (argc != 3){
63  printUsage(argv[0]);
64  } else{
65  logFilename = std::string(argv[1]);
66  graphFilename = std::string(argv[2]);
67  }
68 
69  cout << "\nReading Log file\n===========================\n";
70  ScanGraph* graph = new ScanGraph();
71  graph->readPlainASCII(logFilename);
72 
73  cout << "\nWriting binary graph file\n===========================\n";
74 
75  graph->writeBinary(graphFilename);
76 
77  return 0;
78 }
void printUsage(char *self)
Definition: log2graph.cpp:41
std::ostream & writeBinary(std::ostream &s) const
Definition: ScanGraph.cpp:328
int main(int argc, char **argv)
Definition: log2graph.cpp:56
std::istream & readPlainASCII(std::istream &s)
Definition: ScanGraph.cpp:436


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