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00002 #include <stdio.h>
00003 #include <octomap/octomap.h>
00004 #include <octomap/math/Utils.h>
00005
00006 using namespace std;
00007 using namespace octomap;
00008
00009
00010
00011 int main(int argc, char** argv) {
00012
00013
00014
00015
00016 OcTree tree (0.05);
00017
00018 point3d origin (0.01f, 0.01f, 0.02f);
00019 point3d point_on_surface (4.01f, 0.01f, 0.01f);
00020
00021 cout << "generating spherical scan at " << origin << " ..." << endl;
00022
00023 Pointcloud cloud;
00024
00025 for (int i=-100; i<101; i++) {
00026 for (int j=-100; j<101; j++) {
00027 point3d rotated = point_on_surface;
00028 rotated.rotate_IP(0, DEG2RAD(i*0.5), DEG2RAD(j*0.5));
00029 cloud.push_back(rotated);
00030 }
00031 }
00032
00033
00034 tree.insertPointCloud(cloud, origin);
00035
00036 cout << "done." << endl;
00037 cout << "writing to spherical_scan.bt..." << endl;
00038 tree.writeBinary("spherical_scan.bt");
00039
00040
00041
00042 }