offset_graph.cpp
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
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5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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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:369
std::ostream & writeBinary(std::ostream &s) const
Definition: ScanGraph.cpp:328
std::vector< ScanNode * >::iterator iterator
Definition: ScanGraph.h:173
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)
Pose6D inv() const
Inversion.
Definition: Pose6D.cpp:65


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