feat: add example script for spires_cpp

spires_cpp/example.py

@@ -0,0 +1,25 @@
+from spires_cpp import OcTree, convertOctreeToPointCloud, removeUnknownPoints, processPCDFolder
+
+pcd_folder = "/home/yifu/data/nerf_data_pipeline/2024-03-13-maths_1/raw/individual_clouds_new"
+resolution = 0.1
+save_path = "/home/yifu/data/nerf_data_pipeline/2024-03-13-maths_1/raw/individual_clouds_new.bt"
+processPCDFolder(pcd_folder, resolution, save_path)
+
+
+octomap_bt_path = "/home/yifu/data/nerf_data_pipeline/2024-03-13-maths_1/raw/individual_clouds_new.bt"
+octree = OcTree(octomap_bt_path)
+print(octree.getResolution())
+print(octree.size())
+print(octree.getTreeDepth())
+
+
+octomap_bt_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/gt_cloud.bt"
+input_cloud_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/input_cloud_occ.pcd"
+output_cloud_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/input_cloud_occ_filtered.pcd"
+removeUnknownPoints(input_cloud_path, octomap_bt_path, output_cloud_path)
+
+
+octomap_bt_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/gt_cloud.bt"
+occ_cloud_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/gt_cloud_occ.pcd"
+free_cloud_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/gt_cloud_free.pcd"
+convertOctreeToPointCloud(octomap_bt_path, free_cloud_path, occ_cloud_path)