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Hi there. I don't know if you still have the question (probably not...).

I have some experience on this problem. Here are some suggestions:

  • write a code with octomap library to load the ot file, and to extract xyz from it (like the xyz of occupied grids). Here is a hint:

Look at line 86 to 93

you can get xyz through "getCoordinate"

  • In quadcopter navigation area, there is another type of map: tsdf, here are some useful links from ETHZ ASL on it.


to get ground truth of the map: