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I'm working with octomap, I call the /octomap_binary service, and convert it to octree. As I know the octree contain the occupied or free nodes.
Q: How can I know the amount of area covered?
I think about summation of the size of leaf nodes, is there a better way to do it.
context: I'm working on doing exploration using UAV, and I want to know how much area is covered.
To know the amount of unkown by using this method. getUnknownLeafCenters for example:
ourmap.getUnknownLeafCenters(l, min_point, max_point);
for (auto i = l.begin(); i != l.end(); i++)
{
print(*i, "Uknown");
}
Asked: 2021-04-01 05:30:19 -0600
Seen: 247 times
Last updated: Apr 09 '21
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