Octomap keys are the same for all coordinated inside a voxel?

asked 2017-03-13 11:57:50 -0500

kotoko gravatar image


I'm trying to figure out if the the key of an octomap is a valid way to check if two points are inside the same voxel.

So for a given octree and two coordinates can I just compare the output of coordToKey() to see if they are in the same voxel? Even taking into account the multi resolution aspect of the octree.

Will the key reflect the reference point of the voxel?

Thanks in advance.

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