Small talk - OctoMap

[eliabntt]

Hi,

I'm a PhD student at MPI - PS. I've recently used RTABMap for my iRotate project(iRotate and independent camera).

I was looking more deeply into your package and specifically to the OctoMap-part of the package.

Theoretically, would it be possible to add for every node here additional information (e.g. the class code of the point, or whatever). Then in lines 624, 779, 864, 897, 951 of this elaborate/set that data. https://github.com/introlab/rtabmap/blob/e2dc3ac67efac7d21876bab5d66c659a1349f309/corelib/src/OctoMap.cpp#L624 https://github.com/introlab/rtabmap/blob/e2dc3ac67efac7d21876bab5d66c659a1349f309/corelib/src/OctoMap.cpp#L779 https://github.com/introlab/rtabmap/blob/e2dc3ac67efac7d21876bab5d66c659a1349f309/corelib/src/OctoMap.cpp#L864 https://github.com/introlab/rtabmap/blob/e2dc3ac67efac7d21876bab5d66c659a1349f309/corelib/src/OctoMap.cpp#L897 https://github.com/introlab/rtabmap/blob/e2dc3ac67efac7d21876bab5d66c659a1349f309/corelib/src/OctoMap.cpp#L951

Eventually, one could here edit the updateNode() function to integrate the wanted information (if needed).

Am I missing something?

[matlabbe]

You can add any information you want for each cell (by modifying the RtabmapColorOcTreeNode class). Here the Type info is arbitrary chosen and used to distinguish ground from real obstacles, an information not provided in original OctoMap (ground and walls are all considered the same occupied space).