How to downproject a static 3D octomap into 2d occupancy grid map?

[longchao9527 long]

HI:

    I have built a static 3D octomap recently.I don't know how to downproject it into a 2d occupancy grid map using for navigation.Can somebody teach me how to do it ?THX

[Armin Hornung]

If you're using ROS you can simply use octomap_server
(http://wiki.ros.org/octomap_server) which does all of this configurable
for you.

If you're not using ROS you have to do the downprojection yourself, but
you can still use the code of octomap_server as an example. As a rough
outline: iterate over all octree leafs, get their size (how many pixels
they cover) and mark the 2D map cells accordingly (e.g. occupied as soon
as there is one occupied voxel in the z-range you want to cover).

Best regards,
Armin

[Canben Yin]

Hi,Did it include moving objects in your static 3D octomap?Can you share opinion about how to build it?

在 2015年1月10日星期六 UTC+8下午5:20:46，longchao9527 long写道：