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does octomap library suit for stereo vision?

asked 2012-10-15 21:18:13 -0500

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Recently, I am participated an ARM navigation program. I obtain point cloud data from stereo vision, and I want to obtain octomap of the environment based on the stereo vision. so i want to know that does octomap library suit for stereo vision? please help me, thank you.

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answered 2012-10-15 23:13:10 -0500

AHornung gravatar image

OctoMap is more than suited for stereo vision and RGB-D data (e.g. from Kinect or Asus Xtion), in fact it's mainly used on the PR2 to build collision maps from stereo (in the packages collider and octomap_server). Just use the PointCloud2 message type to build maps.

The only limitation might be the amount of data you can insert, I have seen rates of about 10 Hz for tabletop (arm navigation) data. If the insertion / map update gets too slow, you can downsample your data, limit its maximum range in octomap, or increase the octomap resolution (voxel size).

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As a clarification: You can limit the maximum range for rays to insert. So if your measurements are 10m away and you are only interested in the near range (say 5m), limiting the max_range of octomap will keep the map more compact and the updates faster.

AHornung gravatar image AHornung  ( 2012-10-17 03:36:12 -0500 )edit
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answered 2012-10-17 03:09:13 -0500

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thank you for your help. As your words, If the insertion / map update gets too slow, I can do something like limiting its maximum range in octomap. However, I think that the maximum range in octomap is a constant after the octomap resolution have been set. For example, if we set the octomap resolution with 0.05m, the maximum range will be equal to 1638.4m (0.05*2 ^ 15). So how can I limit the maximum range in octomap?

Today, I have found another library (point cloud library) in which 3D environmet can also been described with octree. does there exist any apparent advantages for octomap library compared with pcl_octree library?

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Please don't post this as an answer to your question. You can post comments below questions and answers, or edit your initial question to fill in more details.

AHornung gravatar image AHornung  ( 2012-10-17 03:34:37 -0500 )edit

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Asked: 2012-10-15 21:18:13 -0500

Seen: 714 times

Last updated: Oct 17 '12