int main(int argc, char** argv) {
string inputFilename = "";
string outputFilename = "";
if (argc < 2 || argc > 3 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
printUsage(argv[0]);
}
inputFilename = std::string(argv[1]);
if (argc == 3)
outputFilename = std::string(argv[2]);
else{
outputFilename = inputFilename + ".ot";
}
cout << "\nReading OcTree file\n===========================\n";
std::ifstream file(inputFilename.c_str(), std::ios_base::in |std::ios_base::binary);
if (!file.is_open()){
OCTOMAP_ERROR_STR("Filestream to "<< inputFilename << " not open, nothing read.");
exit(-1);
}
std::istream::pos_type streampos = file.tellg();
AbstractOcTree* tree;
// reading binary:
if (inputFilename.length() > 3 && (inputFilename.compare(inputFilename.length()-3, 3, ".bt") == 0)){
OcTree* binaryTree = new OcTree(0.1);
if (binaryTree->readBinary(file) && binaryTree->size() > 1)
tree = binaryTree;
else {
OCTOMAP_ERROR_STR("Could not detect binary OcTree format in file.");
exit(-1);
}
} else {
tree = AbstractOcTree::read(file);
if (!tree){
OCTOMAP_WARNING_STR("Could not detect OcTree in file, trying legacy formats.");
// TODO: check if .cot extension, try old format only then
// reset and try old ColorOcTree format:
file.clear(); // clear eofbit of istream
file.seekg(streampos);
ColorOcTree* colorTree = new ColorOcTree(0.1);
colorTree->readData(file);
if (colorTree->size() > 1 && file.good()){
OCTOMAP_WARNING_STR("Detected Binary ColorOcTree to convert. \nPlease check and update the new file header (resolution will likely be wrong).");
tree = colorTree;
} else{
delete colorTree;
std::cerr << "Error reading from file " << inputFilename << std::endl;
exit(-1);
}
}
}
// close filestream
file.close();
if (outputFilename.length() > 3 && (outputFilename.compare(outputFilename.length()-3, 3, ".bt") == 0)){
std::cerr << "Writing binary (BonsaiTree) file" << std::endl;
AbstractOccupancyOcTree* octree = dynamic_cast<AbstractOccupancyOcTree*>(tree);
if (octree){
if (!octree->writeBinary(outputFilename)){
std::cerr << "Error writing to " << outputFilename << std::endl;
exit(-2);
}
} else {
std::cerr << "Error: Writing to .bt is not supported for this tree type: " << tree->getTreeType() << std::endl;
exit(-2);
}
} else{
std::cerr << "Writing general OcTree file" << std::endl;
if (!tree->write(outputFilename)){
std::cerr << "Error writing to " << outputFilename << std::endl;
exit(-2);
}
}
std::cout << "Finished writing to " << outputFilename << std::endl;
exit(0);
}
