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  1. Because both the octrees and nodes are templated, that should be really easy to do as dornhege wrote. You would need to derive your own OcTreeNode (for data) and OcTree (for implementation). In the last versions, we moved more and more of the actual occupancy implementation into OccupancyOcTreeBase, so you can directly derive from that. For examples, have a look at the OcTreeNodeStamped and OcTreeStamped.

  2. See the answer by dornhege. For that to work with the max depth, you would need to keep the inner tree values consistent with the max or mean of their children, as it's done in OcTreeNode after each update.

  3. Check octomap_server in octomap_mapping, it sends out a visualization as MarkerArray for RViz that you can easily adapt to your needs. It's not the most efficient way to display all the voxels in RViz (and they're not shaded properly), so for much data you might need to extend our own viewer octovis to your needs.