[ros-users] octomap

[Raphael Favier]

Armin,

It indeed worked fine, except that the function becomes very slow and fill
out all my memory (4GB) if the leaf size is small (0.01) and the number of
scan points large (> 75 000).
Nevertheless, I have a good and fast processing speed with leaf size around
0.05.

I would still have a few general questions related to octomap:

I would like to use octomap in order to build precise indoor maps using a
robotic base with a mounted Kinect on it.
What would be the best strategy according to you?
  a) add points in an Octree on the fly, using insertScan for each.
  b) generate a log file of all scans on the fly, and create a tree offline
using log2graph and graph2tree
  c) generate a ScanGraph on the fly and create a tree from it offline.
  d) other way?

Also, I woud like to store a color information in my nodes. 
Should I create a node class that inherits from octomap::OcTreeDataNode< T >
and add a color field or is there a way to do it directly?

Thanks for your patience :)

Raph
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