How to convert a mesh or shape into an Octomap?
I want to convert 3D meshes into Octomaps, to obtain the swept volume of a robot trajectory.
The only conversion I found is binvox2bt, but this loads a mesh file directly into an octree, and does not allow transformation before conversion.
This issue seems to imply that there are no easy solutions. Does anyone have a good project or method to point to?
What is your mesh format ? , if its a format that Gazebo supports, you my spawn the mesh to a Gazebo world. I have a gazebo plugin that can acquire octomap(optionally a pointcloud) of world. Though its only in ROS2; https://github.com/NMBURobotics/vox_n..., if you are interested I can provide a more detailed answer.