normals_example.cpp
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2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
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33 
34 #include <vector>
35 #include <string>
36 
37 #include <octomap/octomap.h>
38 #include <octomap/OcTree.h>
39 
40 using namespace std;
41 using namespace octomap;
42 
43 
44 void print_query_info(point3d query, OcTreeNode* node) {
45  if (node != NULL) {
46  cout << "occupancy probability at " << query << ":\t " << node->getOccupancy() << endl;
47  }
48  else
49  cout << "occupancy probability at " << query << ":\t is unknown" << endl;
50 }
51 
52 int main(int argc, char** argv) {
53 
54  cout << endl;
55  cout << "generating example map" << endl;
56 
57  OcTree tree (0.1); // create empty tree with resolution 0.1
58 
59 
60  // insert some measurements of occupied cells
61 
62  for (int x=-20; x<20; x++) {
63  for (int y=-20; y<20; y++) {
64  for (int z=-20; z<20; z++) {
65  point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
66  tree.updateNode(endpoint, true); // integrate 'occupied' measurement
67  }
68  }
69  }
70 
71  // insert some measurements of free cells
72 
73  for (int x=-30; x<30; x++) {
74  for (int y=-30; y<30; y++) {
75  for (int z=-30; z<30; z++) {
76  point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
77  tree.updateNode(endpoint, false); // integrate 'free' measurement
78  }
79  }
80  }
81 
82  cout << endl;
83  cout << "performing some queries around the desired voxel:" << endl;
84 
85  point3d query;
86  OcTreeNode* result = NULL;
87 
88  for(float z = -0.6f; z < -0.21f; z += 0.1f){
89  for(float y = -0.6f; y < -0.21f; y += 0.1f){
90  for(float x = -0.6f; x < -0.21f; x += 0.1f){
91  query = point3d(x, y, z);
92  result = tree.search(query);
93  print_query_info(query, result);
94  }
95  }
96  }
97 
98  query = point3d(-0.5f, -0.4f, -0.4f);
99  result = tree.search(query);
100 
101  vector<point3d> normals;
102  if (tree.getNormals(query, normals)){
103 
104  cout << endl;
105  string s_norm = (normals.size() > 1) ? " normals " : " normal ";
106  cout << "MC algorithm gives " << normals.size() << s_norm << "in voxel at " << query << endl;
107  for(unsigned i = 0; i < normals.size(); ++i)
108  cout << "\t" << normals[i].x() << "; " << normals[i].y() << "; " << normals[i].z() << endl;
109  } else{
110  cout << "query point unknown (no normals)\n";
111  }
112 }
double getOccupancy() const
Definition: OcTreeNode.h:65
virtual NODE * updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
void print_query_info(point3d query, OcTreeNode *node)
NODE * search(double x, double y, double z, unsigned int depth=0) const
float & y()
Definition: Vector3.h:136
bool getNormals(const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const
This class represents a three-dimensional vector.
Definition: Vector3.h:50
octomath::Vector3 point3d
Use Vector3 (float precision) as a point3d in octomap.
Definition: octomap_types.h:49
int main(int argc, char **argv)


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32