add slam_gmapping

2025-06-06 16:15:07 +08:00
parent 9187b9fb85
commit a7b75c31cb
141 changed files with 15992 additions and 0 deletions
@@ -0,0 +1,64 @@
+/*****************************************************************
+ *
+ * This file is part of the GMAPPING project
+ *
+ * GMAPPING Copyright (c) 2004 Giorgio Grisetti, 
+ * Cyrill Stachniss, and Wolfram Burgard
+ *
+ * This software is licensed under the "Creative Commons 
+ * License (Attribution-NonCommercial-ShareAlike 2.0)" 
+ * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, 
+ * and Wolfram Burgard.
+ * 
+ * Further information on this license can be found at:
+ * http://creativecommons.org/licenses/by-nc-sa/2.0/
+ * 
+ * GMAPPING 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.  
+ *
+ *****************************************************************/
+
+
+#include <unistd.h>
+#include "gsp_thread.h"
+
+using namespace GMapping;
+
+int  main (int argc, char ** argv){
+  cerr << "GMAPPING copyright 2004 by Giorgio Grisetti, Cyrill Stachniss," << endl ;
+  cerr << "and Wolfram Burgard. To be published under the CreativeCommons license," << endl ;
+  cerr << "see: http://creativecommons.org/licenses/by-nc-sa/2.0/" << endl << endl;
+
+
+	GridSlamProcessorThread* gsp=  new GridSlamProcessorThread;
+	if (gsp->init(argc, argv)){
+		cout << "GSP INIT ERROR" << endl;
+		return -1;
+	}
+	cout <<"GSP INITIALIZED"<< endl;
+	if (gsp->loadFiles()){
+		cout <<"GSP READFILE ERROR"<< endl;
+		return -2;
+	}
+	cout <<"FILES LOADED"<< endl;
+	gsp->setMapUpdateTime(1000000);
+	gsp->start();
+	cout <<"THREAD STARTED"<< endl;
+	bool done=false;
+	while (!done){
+		GridSlamProcessorThread::EventDeque events=gsp->getEvents();
+		for (GridSlamProcessorThread::EventDeque::iterator it=events.begin(); it!=events.end(); it++){
+			cout << flush;
+			GridSlamProcessorThread::DoneEvent* doneEvent=dynamic_cast<GridSlamProcessorThread::DoneEvent*>(*it);
+			if (doneEvent){
+				done=true;
+				cout <<"DONE!"<< endl;
+				gsp->stop();
+			}
+			if (*it)
+				delete(*it);
+		}
+	}
+}