How can I have access to values in the octomap datasets

Hello, I am trying to read Octomap files ,it is a .bt file.I want to know the occupation information(gray value) of the .bt file through matlab for 3D feature ectraction. Can you give me some suggestions? Thank you in advance.

Answer 1

[Walter Roberson]

https://www.mathworks.com/matlabcentral/answers/415139-read-octomap-file-with-robotics-system-toolbox#answer_333084

[changcheng qiu]

Thanks for you advice.I have communicated with the author and he has given me some help.The problem now is that octomap_server can only publish a message once resulting in matlab can't subscribe it in time.

[Cam Salzberger]

Can you set up the subscriber first? So long as you know the message type in MATLAB ahead of time, you can subscribe to a topic before any publishers start publishing.

[changcheng qiu]

Thanks for your replay. Now,I think the problem of it is that the octomap_server didn't publish the octomap messages.can you give me some advices? Thank you.