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I've not worked previously with the nav2d_exploration package, but I'm assuming that the resulting map should have three different colours: black for the sensed obstacles, white for the empty explored space and grey for the unexplored space. A not fancy way to do it, although could work, is "count" the amount of pixels with the empty explored space value.

You can do that in external tools such as MATLAB, or even inside your ROS code, that's up to you! I guess the method which provides a higher amount of "explored space" will be the one which has the highest cover ability.