How to get position from octomap msgs

Hi everybody, I'm looking for a way to use octomap data for quadcopter navigation. I'm using a rgbd camera and I need xyz objects coordinates. There's a way to get them from octomap data? Thanks for all

Asked by mrx on 2017-06-19 11:15:02 UTC

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Answers

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:

https://github.com/OctoMap/octomap/blob/v1.8-fixes/octomap/src/octree2pointcloud.cpp

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.

simulator:

https://github.com/GimpelZhang/rotors_simulator

to get ground truth of the map:

https://github.com/ethz-asl/voxblox_ground_truth

Asked by Junchuan1989 on 2019-08-01 02:41:41 UTC