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What is the size of octomap?

asked 2021-04-01 05:30:19 -0500

mohamed ahmed gravatar image

I'm working with octomap, I call the /octomap_binary service, and convert it to octree. As I know the octree contain the occupied or free nodes.

Q: How can I know the amount of area covered?

I think about summation of the size of leaf nodes, is there a better way to do it.

context: I'm working on doing exploration using UAV, and I want to know how much area is covered.

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answered 2021-04-09 03:16:31 -0500

mohamed ahmed gravatar image

updated 2021-04-09 05:49:13 -0500

To know the amount of unkown by using this method. getUnknownLeafCenters for example:

ourmap.getUnknownLeafCenters(l, min_point, max_point);
for (auto i = l.begin(); i != l.end(); i++)
    print(*i, "Uknown");
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Asked: 2021-04-01 05:30:19 -0500

Seen: 172 times

Last updated: Apr 09 '21