Octomap简介（一）

Getting Started

Jump right in and have a look at the main class octomap::OcTree OcTree and the examples in src/octomap/simple_example.cpp. To integrate single measurements into the 3D map have a look at OcTree::insertRay(...), to insert full 3D scans (pointclouds) please have a look at OcTree::insertPointCloud(...). Queries can be performed e.g. with OcTree::search(...) or OcTree::castRay(...). The preferred way to batch-access or process nodes in an Octree is with the iterators leaf_iterator, tree_iterator, or leaf_bbx_iterator.

看看主类octomap :: OcTree中的OcTree和src / octomap / simple_example.cpp中的示例。

• 要将单个测量量（数据）集成（插入）到3D地图中，请查看OcTree :: insertRay（...）
• 要插入完整的3D扫描（点云），请查看OcTree :: insertPointCloud（...）
• 可以使用OcTree :: search（...）或OcTree :: castRay（...）进行查询
• 在Octree中批量访问或处理节点的首选方法是使用迭代器leaf_iterator，tree_iterator或leaf_bbx_iterator

The OcTree class is derived from OccupancyOcTreeBase, with most functionality in the parent class. Also derive from OccupancyOcTreeBase if you you want to implement your own Octree and node classes. You can have a look at the classes OcTreeStamped and OcTreeNodeStamped as examples.

OcTree类继承自OccupancyOcTreeBase，大多数功能在父类中。 如果要实现自己的Octree和节点类，还可以从OccupancyOcTreeBase派生。 您可以看一下OcTreeStamped和OcTreeNodeStamped类作为示例。

3D可视化启动工具：bin / octovis