Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How can I have access to values in the octomap datasets

asked 2014-10-08 09:18:14 -0600

AliAs
63 ●9 ●12 ●15

updated 2014-10-10 11:49:07 -0600

I want to have access to hitting points, colors and pose coordinate values in the octomap datasets (e.g. to use octomap datasets in MATLAB). The datasets I am talking about are available in this link . The dataset are in the form of .ot, .bt and .graph files. It says that .graph files contain raw sensor readings at registered poses in a binary format. You can convert them to .bt and .ot (the final occupancy map format).

How can I have access to the point and color information? I mean to have them (hitting points, colors and pose coordinate) in the from of a text file or something like that.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-10-11 07:05:18 -0600

AHornung

5904 ●43 ●74 ●102 http://www.informatik....

The end points and scans with poses are stored in a format proprietary for OctoMap. The OctoMap tool "graph2tree" can read them, so your best starting point would be to have a look at the file graph2tree, specifically ScanGraph::readBinary(...).

However, there is no color information stored in them.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2014-10-08 09:18:14 -0600

Seen: 857 times

Last updated: Oct 11 '14

How can I have access to values in the octomap datasets edit

1 Answer

Question Tools

Stats

Related questions

How can I have access to values in the octomap datasets