When ray tracing, a good criteria for whether a ray actually passes through a voxel or if it just clipped is to look at the normal of the voxel relative to the direction of the ray.
If $\text{ray} \cdot \text{normal}$ is near 1, the ray hit a surface directly. If it's near 0, the ray is just skimming the surface of the points in that voxel.
This is just my intuition, so it might not be helpful but could be fun to try. I think this could also be great for path planning even if it doesn't work for mapping.
The main work is to calculate the normal for each voxel which can be done with some maths.
Synced from DIM-966 by andrew
When ray tracing, a good criteria for whether a ray actually passes through a voxel or if it just clipped is to look at the normal of the voxel relative to the direction of the ray.
If$\text{ray} \cdot \text{normal}$ is near 1, the ray hit a surface directly. If it's near 0, the ray is just skimming the surface of the points in that voxel.
This is just my intuition, so it might not be helpful but could be fun to try. I think this could also be great for path planning even if it doesn't work for mapping.
The main work is to calculate the normal for each voxel which can be done with some maths.
Synced from DIM-966 by andrew