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Hi,
I have a registered point-cloud as PCD file. I want to convert it into octree representation. There are two ways I could go. The first one is by using PCL. The second method by using octomap. Is there any difference between them? Which one should I choose? How could it be done using octomap?
Greetings
First used pcl to publish a point cloud from the pcd file and then used octomap to get the octree
<launch>
<node pkg = "pcl_ros" type = "pcd_to_pointcloud" name = "show_pointcloud" args = "xyz.pcd _frame_id:=/world" output="screen" /
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<param name="resolution" value="0.4" />
<param name="frame_id" type="string" value="world" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model/max_range" value="100" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/cloud_pcd" />
</node>
</launch>
I wrote this simple piece of code
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <octomap/OcTree.h>
octomap::OcTree pcdToOctree(const std::string& pcd_file, double resolution)
{
// Read in the env PCD file as Point Cloud and convert to OcTree
// FIRST: Load PCD as PCL PointCloud
pcl::PointCloud<pcl::PointXYZ> cloud;
if (pcl::io::loadPCDFile<pcl::PointXYZ> (pcd_file, cloud) == -1) //* load the file
{
PCL_ERROR ("Couldn't read input PCD file \n");
return (-1);
}
// SECOND: Add points to OcTree
octomap::OcTree final_octree(resolution);
for (auto p:cloud.points)
{
final_octree.updateNode( octomap::point3d(p.x, p.y, p.z), true );
}
final_octree.updateInnerOccupancy();
return final_octree;
}
Asked: 2013-07-01 02:53:55 -0500
Seen: 1,879 times
Last updated: Aug 08 '21
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Have you got any answer?