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How to get position from octomap msgs

asked 2017-06-19 11:15:02 -0500

mrx gravatar image

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

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answered 2019-08-01 02:41:41 -0500

Junchuan1989 gravatar image

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/bl...

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...

to get ground truth of the map:

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

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Asked: 2017-06-19 11:15:02 -0500

Seen: 204 times

Last updated: Jun 19 '17