Hi ,

I am trying to use octomap server to build occupancy grid for my environment and objects.

This is the raw point cloud from simulator:

after segmentation and call octomap service to build the map, below is the MarkerArray in visualization for the middle object:

As you can see, the occupancy grids are not completely enclosing the point cloud, and I understand that the generated occupancy grid depends on the actual pose of object due to the fixed resolution of the grid. But for my purpose, I want to full enclosure no matter where the object is located.

So is there a way or is there some parameter in octomap I can play with to achieve that purpose?

Thank you so much in advance!