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That's quite easy if I understand it correctly and you want to compute the volume occupied by all occupied voxels. Just use a leaf_iterator in OctoMap to iterate over all leaf nodes. Then check whether the node is occupied (tree.isNodeOccupied(*it)
), get the side length of the current voxel (it.getSize()
) and compute the volume from it.
I'm not sure what you mean with "some voxels overlap". Leaf nodes in the octree cannot overlap.