How to Segment Octree?
I am doing my path planning task in a large scale outdoor environment.
Suppose I have two ‘octomap::octree’ variables, oct_temp and oct_map. And the current position of robot in the map is already known : P=[x,y,z].
The global map is stored in oct_map, and I want to use oct_temp to store a segmentation of global map which contains nodes within 30 meters from position P in oct_map.
I know the data structure of octree is different from PCL, but I can't extract a specific node of oct_map and copy it to oct_temp.
I stuck on this issue for a long time, any suggestion is very big help for me, thanks!