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I am not sure if you want to evaluate your 2D navigation map or the 3D Octomap. But in either case you can write a node to subscribe to the map message.

since you have access to the mapping environment (real or simulated), you can measure its volume/area. I refer this as full.

By subscribing to the map message you can read which (2D/3D) cells are occupied, and which cells are free. You can find out each cell's size and calculate the area/volume. Sum these areas/volumes separately. I label them as occupied, and free.

unmapped = full - occupied - free

(Octomap marks unknown cells too, but they don't cover the full area of the map if you don't fully explore. you can use this if it fits your requirement)

I am not sure if you want to evaluate your 2D navigation map or the 3D Octomap. But in either case you can write a node to subscribe to the map message.

since you have access to the mapping environment (real or simulated), you can measure its volume/area. I refer this as full.

By subscribing to the map message you can read which (2D/3D) cells are occupied, and which cells are free. You can find out each cell's size and calculate the area/volume. Sum these areas/volumes separately. I label them as occupied, and free.

unmapped = full - occupied - free

(Octomap marks unknown cells too, but they don't cover the full area of the map if you don't fully explore. you can use this if it fits your requirement)