Hi Armin,

On Thu, 2010-11-25 at 11:48 +0100, Armin Hornung wrote:
> This coincides with the release of OctoMap v0.8, which the 
> octomap_mapping stack now builds on. Compared to previous versions, the 
> optimizations in OctoMap 0.8 significantly speed up map building and 
> queries on the map.

That's excellent news. I'll see if I can test our code with the new
release shortly. We've had performance issues in the past and had to
resort to offline map-building. It would be great if we could do that
online instead.

>  As always, we're curious to hear how you use OctoMap 

As you are probably aware of, we (Udo Frese's Realtime Vision Group here
in Bremen) use OctoMap to build a volumetric map in our visual SLAM
system developed as part of the SFB TR/8 A7 project. See [1] for a
video.

> and if there are suggestions for further improvements.

Have you considered using Eigen2/3 for vector/matrix/quaternion math?
I would expect this to yield further performance improvements and it
would relieve you from maintaining your own matrix/quaternion library.

Cheers,

Rene

[1]
http://www.ros.org/wiki/Events/CoTeSys-ROS-School/Presentations?action=AttachFile&do=get&target=vslam.mp4

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