Exemplo n.º 1
0
static void tomap(int argc, char *argv[]) 
{
  int next_arg;
  int force;
  double resolution;
  char *input_filename, *output_filename;
  carmen_map_t *map;
  carmen_FILE *out_fp;
  char buf[1024];

  gtk_init (&argc, &argv);

  next_arg = handle_options(argc, argv, &force);

  if(argc - next_arg != 4) {
    carmen_warn("\nError: wrong number of parameters.\n");    
    carmen_die("\nUsage: %s tomap <resolution> <ppm filename> "
	       "<map filename>\n\n", argv[0]); 
  }

  resolution = (double)atof(argv[next_arg+1]);

  if (resolution == 0) 
    carmen_die("%s translated to a resolution of 0.\n"
		"A positive, non-zero resolution is required.\n", 
		argv[next_arg+1]);
  
  input_filename = argv[next_arg+2];
  if(!carmen_file_exists(input_filename)) 
     carmen_die("Image file %s does not exist.\n", input_filename);

  output_filename = check_output(argv[next_arg+3], force);

  map = carmen_map_imagefile_to_map(input_filename, resolution);

  out_fp = carmen_fopen(output_filename, "w");
  if (carmen_map_write_id(out_fp) < 0)
    carmen_die_syserror("Couldn't write map id to %s", output_filename);

  sprintf(buf, "Created from %s", input_filename);
  if (carmen_map_write_creator_chunk(out_fp, "img_to_map", buf) < 0)
    carmen_die_syserror("Couldn't write creator chunk to %s", output_filename);

  if (carmen_map_write_gridmap_chunk(out_fp, map->map, map->config.x_size,
				     map->config.y_size, 
				     map->config.resolution) < 0)
    carmen_die_syserror("Couldn't write gridmap chunk to %s", output_filename);

  carmen_fclose(out_fp);
}
Exemplo n.º 2
0
int
main(int argc, char **argv) 
{
  char *in_filename, *out_filename;
  carmen_FILE *out_fp;
  char buf[1024];
  carmen_map_p map;

  if (argc != 3)
    carmen_die("Usage: %s <bee_filename> <carmen_filename>\n", argv[0]);
  
  in_filename = argv[1];
  out_filename = argv[2];

  if (carmen_file_exists(out_filename))
    {
      printf("Overwrite %s? ", out_filename);
      scanf("%s", buf);
      if (tolower(buf[0]) != 'y')
	exit(0);
    }

  map = read_beesoft_map(in_filename);
  
  out_fp = carmen_fopen(out_filename, "w");
  if (out_fp == NULL)
    carmen_die("Couldn't open %s for writing : %s\n", out_filename, 
	       strerror(errno));

  if (carmen_map_write_id(out_fp) < 0)
    carmen_die_syserror("Couldn't write map id to %s", out_filename);

  sprintf(buf, "Created from %s", out_filename);
  if (carmen_map_write_creator_chunk(out_fp, "bee2carmen", buf) < 0)
    carmen_die_syserror("Couldn't write creator chunk to %s", out_filename);

  if (carmen_map_write_gridmap_chunk(out_fp, map->map, map->config.x_size,
				     map->config.y_size, 
				     map->config.resolution) < 0)
    carmen_die_syserror("Couldn't write gridmap chunk to %s", out_filename);
  
  carmen_fclose(out_fp);

  return 0;
}
Exemplo n.º 3
0
int
main(int argc, char **argv)
{
  int width = 0, height = 0;
  double resolution = 0.0;
  char *filename = NULL;
  carmen_map_t map;
  int index;
  carmen_FILE *out_file;

  carmen_read_commandline_parameters(argc, argv);

  if (argc > 1)
    {
      if (strcmp(argv[argc-1], "-w") != 0 && 
	  strcmp(argv[argc-1], "-h") != 0 &&
	  strcmp(argv[argc-2], "-w") != 0 && 
	  strcmp(argv[argc-2], "-h") != 0)
	filename = argv[argc-1];	  
    }

  carmen_process_param_int("w", usage, &width);
  carmen_process_param_int("h", usage, &height);

  carmen_process_param_double("r", usage, &resolution);

  if (width <= 0)
    {
      printf("Map width: ");
      scanf("%d", &width);
    }

  if (height <= 0)
    {
      printf("Map height: ");
      scanf("%d", &height);
    }

  if (resolution <= 0)
    {
      printf("Map resolution: ");
      scanf("%lf", &resolution);
    }

  if (filename == NULL)
    {
      printf("Filename: ");
      filename = (char *)calloc(1024, sizeof(char));
      carmen_test_alloc(filename);
      scanf("%s", filename);
    }

  printf("Creating map %d x %d, resolution %.2f, storing in %s\n", 
	 width, height, resolution, filename);

  map.config.x_size = width;
  map.config.y_size = height;
  map.config.resolution = resolution;
  map.config.map_name = filename;

  map.complete_map = (float *)calloc(width*height, sizeof(float));
  carmen_test_alloc(map.complete_map);
  for (index = 0; index < width*height; index++)
    map.complete_map[index] = -1;

  map.map = (float **)calloc(width, sizeof(float *));
  carmen_test_alloc(map.map);

  for (index = 0; index < width; index++)    
    map.map[index] = map.complete_map+index*height;

  out_file = carmen_fopen(filename, "w");
  if (out_file == NULL)
      carmen_die("Couldn't open %s for writing map: %s\n", filename, 
		 strerror(errno));
  carmen_map_write_id(out_file);
  carmen_map_write_creator_chunk(out_file, "generate_blank", "blank map");
  carmen_map_write_gridmap_chunk(out_file, map.map, width, height, resolution);
  carmen_fclose(out_file);
      
  return 0;
}