Template Function octomap_msgs::binaryMapToMsgData

Function Documentation

template<class OctomapT>
static inline bool octomap_msgs::binaryMapToMsgData(const OctomapT &octomap, std::vector<int8_t> &mapData)

Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.

Returns:

success of serialization