passing pointcloud xyzi to octomap
I am using octomap
to process some radar data that is stored in a PointCloud2
object. It is working correctly, but I am unclear as to what values the points in the cloud should contain.
For my case, I am storing my data in a cloud of PointXYZI
. At the moment I am just trying thresholding the data and setting the intensity of each point either low or high. This doesn't seem to be really altering anything and the octomap generated thinks every point in every cloud is occupied.
Could anyone point me in the right direction? I have read the Octomap paper but can't seem to get it.