Octomap as regular grid

asked 2018-10-10 08:11:47 -0500

kotoko gravatar image

updated 2018-10-11 09:41:04 -0500


Is it possible to use octomap as a regular grid instead of multi-resolution?
It is for comparison purposes. To see what is the performance impact of having a multiresolution.

I looked into the documentation. The only thing I could find is that there is a constructor with parameters:

template<class NODE> octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBa (double resolution, unsigned int tree_depth, unsigned int tree_max_val )

I thought of calling this with 1 tree level but I cannot figure out what tree_max_val is. The default for 16 is 32768 . No idea what that refers to.

Update: Another option is calling the expand method on an existing tree. I imagine it will transform the tree into a regular one.

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