Re: what will happen if points with different color in one cell?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/what-will-happen-if-points-with-different-color-in-one-cell-tp9146p9176.html

You are referring to 3D OctoMap. The color is averaged between the color channels of the points inside the same voxel.

See https://github.com/introlab/rtabmap/blob/769ace86cedf3ce10ea68bfb7ed85684592930c2/corelib/src/OctoMap.cpp#L191-L206