bound box stub for octomap

bbox.cpp

  // get object marker then raycast box edges
  // then expand to multiple objects
  octomap::OcTreeKey bbxMinKey, bbxMaxKey;

  double min_x, min_y, min_z;
  octree->getMetricMin(min_x, min_y, min_z);
  octomap::point3d min = octomap::point3d(float(min_x), float(min_y), float(min_z));

  double max_x, max_y, max_z;
  octree->getMetricMax(max_x, max_y, max_z);
  octomap::point3d max = octomap::point3d(float(max_x), float(max_y), float(max_z));

  octree->coordToKeyChecked(min, bbxMinKey);
  octree->coordToKeyChecked(max, bbxMaxKey);

  octomap::OcTree::leaf_bbx_iterator end = octree->end_leafs_bbx();
  for (octomap::OcTree::leaf_bbx_iterator it = octree->begin_leafs_bbx(bbxMinKey, bbxMaxKey); it != end; it++) {
    hit++;
    octree->deleteNode(it.getKey());
  }