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How can I have access to values in the octomap datasets

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

AliAs gravatar image

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.

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

AHornung gravatar image

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.

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

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Last updated: Oct 11 '14