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| project(ros-map-yaml2mrpt) | ||
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| # Define the executable target: | ||
| add_executable(${PROJECT_NAME} | ||
| ros-map-yaml2mrpt.cpp | ||
| ${MRPT_VERSION_RC_FILE}) | ||
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| # Add the required libraries for linking: | ||
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| # Dependencies on MRPT libraries: | ||
| # Just mention the top-level dependency, the rest will be detected automatically, | ||
| # and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details) | ||
| DeclareAppDependencies(${PROJECT_NAME} mrpt::maps mrpt::tclap) | ||
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| DeclareAppForInstall(${PROJECT_NAME}) |
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| /* +------------------------------------------------------------------------+ | ||
| | Mobile Robot Programming Toolkit (MRPT) | | ||
| | https://www.mrpt.org/ | | ||
| | | | ||
| | Copyright (c) 2005-2022, Individual contributors, see AUTHORS file | | ||
| | See: https://www.mrpt.org/Authors - All rights reserved. | | ||
| | Released under BSD License. See: https://www.mrpt.org/License | | ||
| +------------------------------------------------------------------------+ */ | ||
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| #include <mrpt/3rdparty/tclap/CmdLine.h> | ||
| #include <mrpt/io/CFileGZInputStream.h> | ||
| #include <mrpt/io/CFileGZOutputStream.h> | ||
| #include <mrpt/maps/COccupancyGridMap2D.h> | ||
| #include <mrpt/opengl/COpenGLScene.h> | ||
| #include <mrpt/serialization/CArchive.h> | ||
| #include <mrpt/system/filesystem.h> | ||
| #include <mrpt/system/os.h> | ||
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| int main(int argc, char** argv) | ||
| { | ||
| try | ||
| { | ||
| // Declare the supported command line switches =========== | ||
| TCLAP::CmdLine cmd( | ||
| "ros-map-yaml2mrpt", ' ', mrpt::system::MRPT_getVersion().c_str()); | ||
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| TCLAP::ValueArg<std::string> argInputFile( | ||
| "i", "input", "Input map yaml file (required) (*.yaml)", true, | ||
| "<map.yaml>", "map.yaml", cmd); | ||
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| TCLAP::ValueArg<std::string> argOutputDirectory( | ||
| "d", "output-directory", | ||
| "If provided, output files will be written to the specified " | ||
| "directory, instead of the same directory of the input file, which " | ||
| "is the default behavior. The output directory must exist, it will " | ||
| "not be created.", | ||
| false, "", ".", cmd); | ||
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| TCLAP::SwitchArg argOverwrite( | ||
| "w", "overwrite", "Force overwrite target file without prompting.", | ||
| cmd, false); | ||
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| TCLAP::SwitchArg argQuiet( | ||
| "q", "quiet", | ||
| "Do not print info messages to cout, only errors to cerr", cmd, | ||
| false); | ||
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| TCLAP::SwitchArg argGenerate3D( | ||
| "", "generate-3d", | ||
| "Create a .3Dscene view of the gridmap, suitable for quick " | ||
| "visualization in the SceneViewer3D program.", | ||
| cmd, false); | ||
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| if (!argQuiet.isSet()) | ||
| { | ||
| printf( // | ||
| " ros-map-yaml2mrpt - Part of %s\n" | ||
| "------------------------------------------------------------" | ||
| "\n", | ||
| mrpt::system::MRPT_getVersion().c_str()); | ||
| } | ||
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| // Parse arguments: | ||
| if (!cmd.parse(argc, argv)) | ||
| throw std::runtime_error(""); // should exit. | ||
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| const std::string inputFile = argInputFile.getValue(); | ||
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| const auto grid = | ||
| mrpt::maps::COccupancyGridMap2D::FromROSMapServerYAML(inputFile); | ||
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| const std::string outDir = argOutputDirectory.isSet() | ||
| ? argOutputDirectory.getValue() | ||
| : mrpt::system::extractFileDirectory(inputFile); | ||
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| const std::string outGridFil = mrpt::system::pathJoin( | ||
| {outDir, | ||
| mrpt::system::fileNameChangeExtension(inputFile, "gridmap.gz")}); | ||
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| std::string out3D; | ||
| if (argGenerate3D.isSet()) | ||
| { | ||
| out3D = mrpt::system::pathJoin( | ||
| {outDir, | ||
| mrpt::system::fileNameChangeExtension(inputFile, "3Dscene")}); | ||
| } | ||
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| if (!argQuiet.isSet()) | ||
| { | ||
| std::cout << "Input file : " << inputFile << "\n"; | ||
| std::cout << "Output gridmap : " << outGridFil << std::endl; | ||
| if (!out3D.empty()) | ||
| std::cout << "Output 3D view : " << out3D << std::endl; | ||
| } | ||
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| if (mrpt::system::fileExists(outGridFil) && !argOverwrite.isSet()) | ||
| { | ||
| std::cerr << "Output gridmap file already exists, aborting. Use " | ||
| "`-w` flag " | ||
| "to overwrite." | ||
| << std::endl; | ||
| return 1; | ||
| } | ||
| if (mrpt::system::fileExists(out3D) && !argOverwrite.isSet()) | ||
| { | ||
| std::cerr | ||
| << "Output 3D file already exists, aborting. Use `-w` flag " | ||
| "to overwrite." | ||
| << std::endl; | ||
| return 1; | ||
| } | ||
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| { | ||
| mrpt::io::CFileGZOutputStream f(outGridFil); | ||
| mrpt::serialization::archiveFrom(f) << grid; | ||
| } | ||
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| if (!out3D.empty()) | ||
| { | ||
| mrpt::opengl ::COpenGLScene scene; | ||
| scene.insert(grid.getVisualization()); | ||
| scene.saveToFile(out3D); | ||
| } | ||
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| std::cout << "All done.\n"; | ||
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| return 0; | ||
| } | ||
| catch (const std::exception& e) | ||
| { | ||
| std::cerr << mrpt::exception_to_str(e) << std::endl; | ||
| return 1; | ||
| } | ||
| } |
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