static void carmen_map_read_gridmap(carmen_FILE *fin, carmen_FILE *fout)
{
int size_x, size_y;
float resolution;
float *complete_map = NULL;
carmen_map_t map;
int chunk_type, chunk_size;
char chunk_description[12];
if(carmen_map_advance_to_chunk(fin, CARMEN_MAP_GRIDMAP_CHUNK) < 0) {
fprintf(stderr, "Error: Could not find a gridmap chunk.\n");
fprintf(stderr, " This file is probably not a map file.\n");
carmen_fclose(fin);
}
chunk_type = carmen_fgetc(fin);
carmen_fread(&chunk_size, sizeof(int), 1, fin);
carmen_fread(chunk_description, 10, 1, fin);
chunk_description[10] = '\0';
if(CARMEN_MAP_CHUNK_IS_NAMED(chunk_type)) {
if(read_string(NULL, -1, fin) < 0) {
carmen_warn("Error: Unexpected EOF.\n");
carmen_fclose(fin);
}
}
carmen_fread(&size_x, sizeof(int), 1, fin);
carmen_fread(&size_y, sizeof(int), 1, fin);
carmen_fread(&resolution, sizeof(float), 1, fin);
printf("%d %d %lf\n", size_x, size_y, resolution);
carmen_grid_mapping_create_new_map(&map, size_x, size_y, resolution);
complete_map = (float *)calloc(map.config.x_size * map.config.y_size, sizeof(float));
carmen_fread(complete_map, sizeof(float) * size_x * size_y, 1, fin);
for (int i = 0; i < map.config.x_size * map.config.y_size; i++)
{
map.complete_map[i] = complete_map[i];
}
carmen_map_write_all(fout, map.map,
map.config.x_size,
map.config.y_size,
map.config.resolution,
(char *)"", (char *)"", (char *)"", (char *)"Generated by LCAD-UFES",
NULL, 0, NULL, 0, NULL, 0);
free(complete_map);
free(map.complete_map);
free(map.map);
}
void
save_local_map()
{
carmen_FILE *fp;
fp = carmen_fopen("local.map", "w");
carmen_map_write_all(fp, local_map.map,
local_map.config.x_size,
local_map.config.y_size,
local_map.config.resolution,
(char *) "", (char *) "", (char *) "", (char *) "Generated by big_map",
NULL, 0, NULL, 0, NULL, 0);
carmen_fclose(fp);
}
