Octomap as regular grid
Hi,
Is it possible to use octomap as a regular grid instead of multi-resolution?
It is for comparison purposes. To see what is the performance impact of having a multiresolution.
I looked into the documentation. The only thing I could find is that there is a constructor with parameters:
template<class NODE> octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBa (double resolution, unsigned int tree_depth, unsigned int tree_max_val )
I thought of calling this with 1 tree level but I cannot figure out what tree_max_val is. The default for 16 is 32768 . No idea what that refers to.
Update: Another option is calling the expand method on an existing tree. I imagine it will transform the tree into a regular one.