Publishing points cloud as free points for Octomap
I’m generating points cloud from some data and feeding that to octomap. Every point cloud is considered occupied and all the points between that point and the reference frame are considered free. My goal is to also set points as free and not rely only on raytracing to set that for me.
Is there any way to add points cloud as free ?
raytracing did generate free voxels but it is not correct as it traces rays from the original frame which is not correct in my case, I need that from a local frame. Maybe this is another issue but it is related to my main one.
Sorry, but what are free points in a point cloud?
@ravijoshi Using my sensor I'm able to generate 3D points where there is no obstacle, so I need to send points to octomap_server where I'm sure that are free. Currently, as far as I understand, I can only send 3D points cloud and octomap considered them as occupied. Free points however are generated automatically by raytracing = all points between the 3d point (endpoint) and the origin.