OctoMap / octomap_rviz_plugins

RViz display plugins for visualizing octomap messages in ROS
http://ros.org/wiki/octomap_rviz_plugins
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Fixed rendering of free-space voxels and pruning enclosed nodes #30

Closed MatthiasNieuwenhuisen closed 6 years ago

MatthiasNieuwenhuisen commented 6 years ago

This fixes issue #27 by removing the outer if that prohibits rendering of free-space nodes regardless the user selection. Furthermore, it (hopefully) fixes issue #28 by taking the depth of nodes into account when calculating the neighbor indices and iterating over all potential neighbors on higher depths. This should correctly prune only cells that are surrounded by visible neighbors.

ahornung commented 6 years ago

Great, thanks!