This package provides custom octrees as extension to the octomap framework. They were create for the roi_viewpoint_planner. The following octrees are available:
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RoiOcTree: This class extends the OccupancyOcTreeBase class of the octomap framework. In addition to keeping track of occupancy probability, a region of interest (ROI) probability is stored for each node. Scans with detected ROIs can be inserted using the insertRegionScan method.
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InflatedRoiOcTree: Helper octree, generated by computeInflatedRois method of RoiOcTree. Used to inflate detected ROIs by a given distance. The InflatedRoiOcTree nodes contain a single float value that indicates the distance from the nearest ROI - lower values are further away from ROIs.
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WorkspaceOcTree: Octree to specify the workspace of a robot. Each node contains a float value between 0 and 1, indicating the reachability of the position. Can be generated from a CountingOcTree.
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CountingOcTree: Slightly modified version of the octomap CountingOcTree class. This version returns the correct string in getTreeType and offers an additional method to compute mean and variance of the leaf counts. Can be used to generate a WorkspaceOcTree.
octomap_vpp_rviz_plugin: Contains an rviz plugin to visualize the octrees in this package