pcd_to_bt_example.cpp

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * https://octomap.github.io/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include "octomap/Pointcloud.h"
#include <octomap/OcTree.h>
#include <octomap/octomap.h>
 
using namespace std;
using namespace octomap;
 
int main(int /*argc*/, char ** /*argv*/) {
 
  OcTree tree(0.1);
 
  ifstream input_file("room.pcd");
  if (!input_file.is_open()) {
    cout << "Failed to open room.pcd" << endl;
    return 1;
  }
 
  Pointcloud cloud;
  cloud.readPCD(input_file);
 
  std::cout << "cloud size: " << cloud.size() << std::endl;
 
  point3d sensor_origin(0.0, 0.0, 0.0);
  tree.insertPointCloud(cloud, sensor_origin);
  tree.writeBinary("room.bt");
}