How to add points to an OcTree in python

[jmorgan-bdai]

Hi there,

I'm having trouble adding points to a OcTree i've created. How do you actually add a point to the OcTree?

import coal
resolution = 0.01
octree = coal.OcTree(resolution)
# octree.updateNode(0, 0, 0, True) # <- nope

All attributes for octree:

#for k in dir(octree):
#    print(k, ":\t", getattr(octree, k))
aabb_center :    [1.79769313e+308 1.79769313e+308 1.79769313e+308]
aabb_local :     <coal.coal_pywrap.AABB object at 0x7bdbbfd90740>
aabb_radius :    -1.0
clone :  <bound method clone of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
computeCOM :     <bound method computeCOM of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
computeLocalAABB :       <bound method computeLocalAABB of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
computeMomentofInertia :         <bound method computeMomentofInertia of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
computeMomentofInertiaRelatedToCOM :     <bound method computeMomentofInertiaRelatedToCOM of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
computeVolume :  <bound method computeVolume of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
cost_density :   1.0
getDefaultOccupancy :    <bound method getDefaultOccupancy of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getFreeThres :   <bound method getFreeThres of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getNodeType :    <bound method getNodeType of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getObjectType :  <bound method getObjectType of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getOccupancyThres :      <bound method getOccupancyThres of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getResolution :  <bound method getResolution of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getRootBV :      <bound method getRootBV of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
getTreeDepth :   <bound method getTreeDepth of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
isFree :         <bound method isFree of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
isOccupied :     <bound method isOccupied of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
isUncertain :    <bound method isUncertain of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
setCellDefaultOccupancy :        <bound method setCellDefaultOccupancy of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
setFreeThres :   <bound method setFreeThres of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
setOccupancyThres :      <bound method setOccupancyThres of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
size :   <bound method size of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
threshold_free :         0.0
threshold_occupied :     1.0
toBoxes :        <bound method toBoxes of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>
tobytes :        <bound method tobytes of <coal.coal_pywrap.OcTree object at 0x7bdbc5702b10>>

Thanks!

[jcarpent]

You can easily create an Octree using:

octree = coal.makeOctree(points,resolution)

points should be a (num_points,3) array.

[jmorgan-bdai]

Thanks! Quick follow up - I didn't see anywhere this was documented, are there examples or documentation somewhere?