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Implemented a more recent function from octomap for incredible speed up #47

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Implemented a more recent function from octomap for incredible speed up #47

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6246f3d
Changed how scans are inserted
half-potato May 12, 2018
4d784c8
Update README.md
half-potato May 14, 2018
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2 changes: 2 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
octomap_mapping
===============

Forked by Yonder Dynamics to implement latest features of octomap lib that allow for a 10x speed up.
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Changes to README would have to be reverted prior to this pull request being merged.


ROS stack for mapping with OctoMap, contains the octomap_server package.

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14 changes: 11 additions & 3 deletions octomap_server/src/OctomapServer.cpp
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Expand Up @@ -361,7 +361,15 @@ void OctomapServer::insertScan(const tf::Point& sensorOriginTf, const PCLPointCl
{
ROS_ERROR_STREAM("Could not generate Key for origin "<<sensorOrigin);
}
// Generate octomap pointcloud
Pointcloud pc;
for (PCLPointCloud::const_iterator it = nonground.begin(); it != nonground.end(); ++it){
pc.push_back(it->x, it->y, it->z);
}
m_octree->insertPointCloud (pc, sensorOrigin, m_maxRange, true, true);
m_octree->updateInnerOccupancy();

/*
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Small change in this line, but you essentially replaced all of the specialized point cloud handling in the next 100 lines with the default OctoMap point cloud insertion, and hardcoded the option "discretize"=true. This could be done as speedup, but better as an optional parameter to octomap_server, because it creates different maps in the end (less information in them).

You also only insert the "nonground" point cloud, while the commented out 100 lines insert both ground and nonground, and give the option to filter out ground points while still using them for clearing obstacles - this is a significantly different behavior and different maps will be created in the end.

#ifdef COLOR_OCTOMAP_SERVER
unsigned char* colors = new unsigned char[3];
#endif
Expand Down Expand Up @@ -471,16 +479,16 @@ void OctomapServer::insertScan(const tf::Point& sensorOriginTf, const PCLPointCl
ROS_DEBUG_STREAM("Updated area bounding box: "<< minPt << " - "<<maxPt);
ROS_DEBUG_STREAM("Bounding box keys (after): " << m_updateBBXMin[0] << " " <<m_updateBBXMin[1] << " " << m_updateBBXMin[2] << " / " <<m_updateBBXMax[0] << " "<<m_updateBBXMax[1] << " "<< m_updateBBXMax[2]);

if (m_compressMap)
m_octree->prune();

#ifdef COLOR_OCTOMAP_SERVER
if (colors)
{
delete[] colors;
colors = NULL;
}
#endif
*/
if (m_compressMap)
m_octree->prune();
}


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1 change: 1 addition & 0 deletions octomap_server/src/octomap_server_static.cpp
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Expand Up @@ -143,6 +143,7 @@ int main(int argc, char** argv){
}

try{
ROS_INFO("Started");
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Is this required?

OctomapServerStatic ms(mapFilename);
ros::spin();
}catch(std::runtime_error& e){
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