48 #ifndef OCTOMAP_UTILS_H_ 49 #define OCTOMAP_UTILS_H_ 57 return (
float) log(probability/(1-probability));
62 return 1. - ( 1. / (1. + exp(logodds)));
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
double probability(double logodds)
compute probability from logodds:
float logodds(double probability)
compute log-odds from probability: