color_tree_histogram.cpp

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#include <octomap/octomap.h>
#include <octomap/ColorOcTree.h>
 
using namespace std;
using namespace octomap;
 
 
int main(int /*argc*/, char** argv) {
 
  std::string filename(argv[1]);
 
  std::ifstream infile(filename.c_str(), std::ios_base::in |std::ios_base::binary);
  if (!infile.is_open()) {
    cout << "file "<< filename << " could not be opened for reading.\n";
    return -1;
  }
 
  ColorOcTree tree (0.1);
  tree.readData(infile);
  infile.close();
  cout << "color tree read from "<< filename <<"\n"; 
 
  tree.writeColorHistogram("histogram.eps");
 
  return 0;
}