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OctoMap / octomap

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
http://octomap.github.io
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Visualising a custom OcTree with octovis #199

Open heuristicus opened 6 years ago

heuristicus commented 6 years ago

I've created a custom octree type, by taking the ColorOcTree and replacing Color with another word, let's say Custom. For now, this tree has exactly the same code as the colour octree. The custom type is defined outside the octree and octovis packages. I'd like to display the trees I generate with octovis, but I can't just define the type, save the tree, and then open the saved file with octovis, because I get the error ERROR: Could not create octree of type CustomOcTree, not in store in classIDMapping. This is expected, because without the header being included, the StaticMemberInitializer hasn't been called, so the AbstractOcTree::registerTreeType isn't called either.

I've looked around in the issues and haven't found anything about how to visualise custom types. There doesn't appear to be any mechanism for informing octovis about custom types, and so I'm not sure what the best way to do this would be. A naive method which would probably work would be to create a duplicate of the entire viewer, with the custom headers added. That seems inefficient, and I'd be interested in reading some suggestions about how this might be done.

ahornung commented 6 years ago

Yes, I think currently the only option is a custom implementation as the tree type needs to be known and compiled in. You could derive from the viewer and / or drawing widget and only extend your custom functionality.

What would be needed is some sort of dynamic customization option, which could at run-time pick the correct drawing functionality. This could be done using Qt plugins, and would require a major rewrite of octovis.