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construct_octomap.py
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construct_octomap.py
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from mapping import OccupancyMap
import pickle, sys
from datetime import datetime
import argparse
def PraseArgs():
argparser = argparse.ArgumentParser(
description='Construct Octomap from pointcloud and camera pose')
argparser.add_argument(
'--map',
metavar='MAP',
default='Town01',
help='name of map (default: "Town01")')
argparser.add_argument(
'--res',
metavar='RESOLUTION',
default= 0.25,
type = float,
help='Resolution of octomap (default: 0.5)')
args = argparser.parse_args()
return args
if __name__ == "__main__":
args = PraseArgs()
save_folder = "data/map/"
pointcloud_folder = "data/depth/"
#filename = "Town01_intersection2"
filename = 'Town05_blind_summit'
infile = open(pointcloud_folder+filename+'.pkl','rb')
pc_list = pickle.load(infile)
infile.close()
occupancy_map = OccupancyMap(filename=save_folder+filename+'.ot',resolution = args.res)
#occupancy_map = OccupancyMap(resolution = args.res)
print("Load ", len(pc_list), "pointclouds")
dt0 = datetime.now()
for (pc, pose) in pc_list:
occupancy_map.insert_point_cloud(pc, pose, range=500)
process_time = datetime.now() - dt0
sys.stdout.write('\r FPS: ' + str(1.0 / process_time.total_seconds()))
sys.stdout.flush()
dt0 = datetime.now()
print("\n Finish pointcloud inserting")
#occupancy_map.visualize()
occupancy_map.write_to_file(save_folder+filename+'.ot')
# occu = OccupancyMap(save_folder+filename+'.ot')
# occu.write_to_file(save_folder+filename+'.ot')