import numpy

import octomap

if __name__ == "__main__":

tree = octomap.OcTree(0.1)

tree.insertPointCloud(numpy.array([[1.0, 0.0 ,0.0],

[0.0, 0.0, 1.0],

[-1.0, 0.0, 0.0],

[0.0, 0.0, -1.0]]),

numpy.array([0.0, 1.0, 0.0]))

if tree.writeBinary("test.bt"):

print "Create octree file."

else:

print "Cannot create octree file."