maxmap.cpp

SLAM Gridsim use with sparer sensor

/*
  gridsim2 (c) 2006 Kris Beevers

  This file is part of gridsim2.

  gridsim2 is free software; you can redistribute it and/or modify it
  under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.

  gridsim2 is distributed in the hope that it will be useful, but
  WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with gridsim2; if not, write to the Free Software Foundation,
  Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/

#include <inttypes.h>
#include <assert.h>

extern bool load_pgm(const char *file, uint8_t **grid, uint32_t *w, uint32_t *h);
extern bool write_pgm(const char *file, const uint8_t *grid, uint32_t w, uint32_t h);

int main(int argc, char **argv)
{
  assert(argc > 1);
  uint32_t gw, gh;
  uint8_t *grid;
  assert(load_pgm(argv[1], &grid, &gw, &gh));
  for(uint32_t i = 0; i < gw*gh; ++i) {
    if(grid[i] == 127)
      grid[i] = 0;
    else if(grid[i] > 127) grid[i] = 255;
    else grid[i] = 0;
  }
  write_pgm("ml-map.pgm", grid, gw, gh);
  return 0;
}