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Display octree orientation and octree density(number of points in a voxel)

asked 2019-10-17 08:00:15 -0500

s2037173 gravatar image

Iam using octomap_mapping package. I have generated octomap for a cylinder in gazebo and can view that in Rivz. I am trying to reconstruct point cloud efficiently. So I need to know which all voxel has least number of points in it. How can i display the coordinates of every voxel and the point density of every voxel?

i tried to print octree-> size() in octomapServer.cpp , when i launch it using roslaunch octomap_server octomap_mapping.launch after all other publisher available(eg. orbslam2), Nothing gets printed in my window.

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can some one help me out? i am using for 3d object reconstruction. I need to find the least point cloud density region to improve the number of points in those region. Is it possible to find ou number of points in each voxel? or can anybody give an alternative solution???

s2037173 gravatar image s2037173  ( 2019-10-31 19:05:36 -0500 )edit

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answered 2020-12-31 02:41:49 -0500

Suri gravatar image


You can have a look into this link:

may be it will be helpful.

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Asked: 2019-10-17 08:00:15 -0500

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Last updated: Dec 31 '20