I'm interested in doing the following things with Octomap. I'm not sure whether they can be accomplished by using the templated classes, or by rewriting the Octomap source. What is the best solution, and which parts of the code do I need to look into?
Adding additional information to the nodes in the Octomap tree - for example, color.
Being able to query the value at different resolution levels. So I'd need a function which returns which returns the mean (or mode, or min/max etc) of the value from all the children nodes.
Visualizing the voxels based on their value - preferably in
Thanks for the help!