Function main

octomap/src/intersection_example.cpp:43–92

using namespace octomap;

int main(int /*argc*/, char** /*argv*/) {

  cout << "generating example map" << endl;

  OcTree tree (0.1);  // create empty tree with resolution 0.1

  // insert some measurements of free cells

  for (float x = -2; x <= 0; x += 0.02f) {
    for (float y = -2; y <= 0; y += 0.02f) {
      for (float z = -2; z <= 0; z += 0.02f) {
        point3d endpoint(x, y, z);
        tree.updateNode(endpoint, false); // integrate 'free' measurement
      }
    }
  }

  // insert some measurements of occupied cells (twice as much)
  for (float x = -1; x <= 0; x += 0.01f) {
    for (float y = -1; y <= 0; y += 0.01f) {
      for (float z = -1; z <= 0; z += 0.01f) {
        point3d endpoint(x, y, z);
        tree.updateNode(endpoint, true); // integrate 'occupied' measurement
      }
    }
  }

  point3d origin(-1.5, -1.5, -0.5);
  point3d direction;
  point3d ray_end;

  
  for(float z = 0; z <= 0.25; z += 0.125){
    direction = point3d(1, 1, z);
    cout << endl;
    cout << "casting ray from " << origin  << " in the " << direction << " direction"<< endl;
    bool success = tree.castRay(origin, direction, ray_end);

    if(success){
      cout << "ray hit cell with center " << ray_end << endl;
      
      point3d intersection;
      success = tree.getRayIntersection(origin, direction, ray_end, intersection);
      if(success)
        cout << "entrance point is " << intersection << endl;
    }
  }
	
  return 0;
}