[C++]octomap安装后测试

测试环境：

vs2019

octomap==1.9.6

release x64

代码：

#include <octomap/octomap.h> #include <octomap/OcTree.h>

using namespace std; using namespace octomap; void print_query_info(point3d query, OcTreeNode* node) {     if (node != NULL) {         cout << "occupancy probability at " << query << ":\t " << node->getOccupancy() << endl;     }     else         cout << "occupancy probability at " << query << ":\t is unknown" << endl; } int main(int argc, char** argv) {

    cout << endl;     cout << "generating example map" << endl;     OcTree tree(0.1);  // create empty tree with resolution 0.1     // insert some measurements of occupied cells     for (int x = -20; x < 20; x++) {         for (int y = -20; y < 20; y++) {             for (int z = -20; z < 20; z++) {                 point3d endpoint((float)x * 0.05f, (float)y * 0.05f, (float)z * 0.05f);                 tree.updateNode(endpoint, true); // integrate 'occupied' measurement             }         }     }     // insert some measurements of free cells     for (int x = -30; x < 30; x++) {         for (int y = -30; y < 30; y++) {             for (int z = -30; z < 30; z++) {                 point3d endpoint((float)x * 0.02f - 1.0f, (float)y * 0.02f - 1.0f, (float)z * 0.02f - 1.0f);                 tree.updateNode(endpoint, false);  // integrate 'free' measurement             }         }     }     cout << endl;     cout << "performing some queries:" << endl;     point3d query(0., 0., 0.);     OcTreeNode* result = tree.search(query);     print_query_info(query, result);     query = point3d(-1., -1., -1.);     result = tree.search(query);     print_query_info(query, result);     query = point3d(1., 1., 1.);     result = tree.search(query);     print_query_info(query, result);     cout << endl;     tree.writeBinary("simple_tree.bt");     cout << "wrote example file simple_tree.bt" << endl << endl;     cout << "now you can use octovis to visualize: octovis simple_tree.bt" << endl;     cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl << endl; }

结果：