octomap / octomap Goto Github PK

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

Home Page: http://octomap.github.io

C 1.88% C++ 91.21% Python 0.44% CMake 6.41% Shell 0.06%

octomap's Introduction

OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.

http://octomap.github.io

License:

octomap: New BSD License
octovis and related libraries: GPL

Download the latest releases: https://github.com/octomap/octomap/releases

API documentation: https://octomap.github.io/octomap/doc/

Build status:

Report bugs and request features in our tracker: https://github.com/OctoMap/octomap/issues

A list of changes is available in the octomap changelog

OVERVIEW

OctoMap consists of two separate libraries each in its own subfolder: octomap, the actual library, and octovis, our visualization libraries and tools. This README provides an overview of both, for details on compiling each please see octomap/README.md and octovis/README.md respectively. See http://www.ros.org/wiki/octomap and http://www.ros.org/wiki/octovis if you want to use OctoMap in ROS; there are pre-compiled packages available.

You can build each library separately with CMake by running it from the subdirectories, or build octomap and octovis together from this top-level directory. E.g., to only compile the library, run:

cd octomap
mkdir build
cd build
cmake ..
make

To compile the complete package, run:

cd build
cmake ..
make

Binaries and libs will end up in the directories bin and lib of the top-level directory where you started the build.

Alternatively, you can build and install octomap using vcpkg dependency manager:

git clone https://github.com/Microsoft/vcpkg.git
cd vcpkg
./bootstrap-vcpkg.sh
./vcpkg integrate install
./vcpkg install octomap

The octomap port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please create an issue or pull request on the vcpkg repository.

See octomap README and octovis README for further details and hints on compiling, especially under Windows.

octomap's People

Contributors

Stargazers

Watchers

Forkers

dornhege jon-weisz anhncs sfoix martinlee556 fmder yida ephrein diana48 dirkholz tmdiv pseudopresence xocoatzin samuelpfchoi quintona doudou lxlsosi tsed nradwan jessicabloom resbyte kytatoo lepalom carlosmccosta isura codingcasp tones29 moloned sumitdas89 olpe tesyolan huangzz jeffdelmerico nozaki87 edk208 wpfhtl edwinzero lvzhaoyang rakibmail22 liuxinren456852 jwgu jixiaoting ethz-asl fferri resok jacopisa abhi-kumar webvenky pombreda wohe hxl0809 thebrewcrew darpinorobotics robottomw yuchienhsiao lijian8 kunaltyagi mmurooka nicolaje qboticslabs vanstorm9 gongzg aecins arntanguy robustrobotics liyesun technobotz bigjun rxdu buqing2009 leifole lsouchet ustfgaoaa kasertim highlightz admercs gpuworks mikepurvis clementhuber lorenzmeier anosnowhong patmarion diegocepedaw yvaine chengshy zhangaigh kanster eaa3 yaweiye29 cansenjiang areslp simfaris zhaowei11594 daobilige-su aerobota opengelo seasonsfx qunxiang liyuming1978 ezio47

octomap's Issues

Command Line Parameters for Octovis

It would be nice, if there could be command line parameters to load a map with Octovis with parameters like

./octovis myawesomemap.graph --range 100 --res 0.05

which force Octovis to load everything with max 100m sensor range and 0.05m octree resolution.

OcTreeBase: Initialisation of const-variables in derrived classes

Would be nice to have a (virtual) constructor in '''OcTreeBase''' to be able to set constant variables like '''tree_depth''' or '''tree_max_val''' in derrived classes, without touching the library itself.

octomap::octomapMsgToMap

This may not be the appropriate location for this ticket, but here it goes:

It should be possible to construct an OcTree instance directly from a ROS message without specifying constructor arguments.

{{{
octomap_msgs::OctomapBinary map;
boost::shared_ptroctomap::OcTree om(new octomap::OcTree(0.1)); /// 0.1 is bogus here; overwritten by next call
octomap::octomapMsgToMap(map, *om);
}}}

Perhaps a conversion function can directly return an octomap? Or am I not understanding this correctly?

Get rid of root node when tree is empty

An empty tree always contains the root node spanning over the complete octree volume. This creates some unwanted results e.g. when counting and traversing nodes, or determining the octree extent (in m). Solution: create root node only when required, for an empty tree it is NULL.

Deep Copy Constructor

Implement a deep copy constructor for octree nodes.
Change OcTreeBase copy constructor from shallow copy to deep copy.

FSF address in octomap copyright headers

As part of the process for submitting an octomap package in Fedora, I discovered that the address for the FSF is incorrect in many of the octomap source files using the "rpmlint" tool:

octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/OcTreeDrawer.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/SceneObject.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ViewerWidget.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ViewerSettings.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/CameraFollowMode.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/SelectionBox.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/OcTreeDrawer.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/OcTreeRecord.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/CameraFollowMode.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/TrajectoryDrawer.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ViewerSettings.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/TrajectoryDrawer.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/PointcloudDrawer.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ViewerSettingsPanel.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ViewerSettingsPanelCamera.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ColorOcTreeDrawer.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/SelectionBox.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ViewerGui.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ViewerSettingsPanel.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/main.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ColorOcTreeDrawer.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ViewerSettingsPanelCamera.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/ViewerWidget.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/SceneObject.h
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/src/PointcloudDrawer.cpp
octomap-debuginfo.x86_64: E: incorrect-fsf-address /usr/src/debug/octomap-6d85527c3c1c50f52f3e591ba35154f0d1ff9cf8/octovis/include/octovis/ViewerGui.h

Where the description for that error is:

$ rpmlint -I incorrect-fsf-address
incorrect-fsf-address:
The Free Software Foundation address in this file seems to be outdated or
misspelled. Ask upstream to update the address, or if this is a license file,
possibly the entire file with a new copy available from the FSF.

According to https://www.gnu.org/licenses/old-licenses/lgpl-2.1.txt, the current address is:

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

1.6.0 doesn't compile with gcc 4.8.1

Heya,

v1.6.0 produces the following error over here:

/home/v4hn/repos/octomap/octomap/include/octomap/OcTreeBaseImpl.h: In instantiation of 'class octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>':
/home/v4hn/repos/octomap/octomap/include/octomap/OccupancyOcTreeBase.h:68:9:   required from 'class octomap::OccupancyOcTreeBase<octomap::OcTreeNode>'
/home/v4hn/repos/octomap/octomap/include/octomap/OcTree.h:49:25:   required from here
/home/v4hn/repos/octomap/octomap/include/octomap/OcTreeBaseImpl.h:149:20: error: cannot allocate an object of abstract type 'octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>'
     OcTreeBaseImpl deepCopy() const;

This bug was fixed in April in commit f19a23d
by removing that function. However, there has not been a new (bug fix) release since then.
I would very much like to see an official version that fixes that (probably as well as other)
problems.

Small Bug in OccupancyOctreeBase.hxx

OccupancyOctreeBase.hxx still has genKey() in lines 560 and 568, which I guess has been deprecated or removed.

octovis Windows 8 compilation error (Qt5)

After following the instructions for Windows in the readme for octovis, this error occured:

D:\Eigene Dateien\GitHub\octomap-devel> cd .\octovis\src\extern\QGLViewer
D:\Eigene Dateien\GitHub\octomap-devel\octovis\src\extern\QGLViewer> qmake
D:\Eigene Dateien\GitHub\octomap-devel\octovis\src\extern\QGLViewer> mingw32-make
C:/MinGW/bin/mingw32-make -f Makefile.Release all
mingw32-make[1]: Entering directory 'D:/Eigene Dateien/GitHub/octomap-devel/octovis/src/extern/QGLViewer'
g++ -c -pipe -fno-keep-inline-dllexport -O2 -frtti -Wall -Wextra -fexceptions -mthreads -DUNICODE -DWIN32 -DCREATE_QGLVI
EWER_DLL -DQT_DLL -DQT_THREAD_SUPPORT -DQT_NO_DEBUG -DQT_NO_KEYWORDS -DQT_GUI_LIB -DQT_CORE_LIB -I. -I'C:/Qt/Qt5.1.1/5.1
.1/mingw48_32/include' -I'C:/Qt/Qt5.1.1/5.1.1/mingw48_32/include/QtGui' -I'C:/Qt/Qt5.1.1/5.1.1/mingw48_32/include/QtCore
' -I'release' -I'C:/Qt/Qt5.1.1/5.1.1/mingw48_32/mkspecs/win32-g++' -o release/qglviewer.o qglviewer.cpp
In file included from qglviewer.cpp:23:0:
domUtils.h:31:27: fatal error: qapplication.h: No such file or directory
compilation terminated.
Makefile.Release:902: recipe for target 'release/qglviewer.o' failed
mingw32-make[1]: *** [release/qglviewer.o] Error 1
mingw32-make[1]: Leaving directory 'D:/Eigene Dateien/GitHub/octomap-devel/octovis/src/extern/QGLViewer'
Makefile:38: recipe for target 'release-all' failed
mingw32-make: *** [release-all] Error 2

I installed all the software mentioned there. It is a 64bit Windows8.

Add coordToKey (+ updateNode, ...) from double coordinates

To avoid rounding precision errors when using octomath::Vector3 (point3d) of 3 floats, add coordToKey from 3* double coordinates as vectors. This also eases usage from external code that does not use octomap::point3d, saving one conversion.

Ray tracer

Hi,

I am looking for a ray-tracer in order to simulate views of a 3D sensor over octomap. I've seen that octomap::OcTreeLUT class implements part of the code based on the article of Samet'89. Is there any effort at the moment to build the complete ray-tracer? I'd like to collaborate if so.

Kind regards.

Add approximate (discretized) point cloud insertion as fast variant

Instead of ray casting to all end points and then discretizing via hash set, discretize end points first via hash set and then compute rays to the centers. This will compute less raycasts with only small modelling differences in practice (see MoveIt implementation).

ROS Groovy octomap doesn't build on ARM

The version of Octomap that is released into Groovy contains binaries that aren't compatible with ARM.

It looks like this is fixed in head; a release of the latest version into Groovy should do the trick.

The full build log is here: http://namniart.com/build/job/ros-groovy-octomap_binarydeb_precise_armhf/1/console

Depth restriction for OcTreeLUT

Does parameter _max_depth for ''OcTreeLUT'' have the intention to generate neighbours at a certain depth? In this case it does not shows any effect.
Example: At depth 1 the neighbour in direction N (positive x) for key['''16384'''][16384][16384] should be key['''49152'''][16384][16384] but calling ''genNeighborKey()'' results in key['''16385'''][16384][16384] which would be the neighbour at lowest tree level 16. Choosing a different _max_depth does not alter the result.

Octovis: "Follow Robot Trajectory" causes crash

When you try to follow the Robot Trajectory with the Cam (>> Symbol), Octovis crashes with following MacOS X info:

Process:         octovis [2368]
Path:            /Users/USER/*/octovis
Identifier:      octovis
Version:         0
Code Type:       X86-64 (Native)
Parent Process:  sh [2366]
User ID:         501

Date/Time:       2013-07-26 21:04:29.415 +0200
OS Version:      Mac OS X 10.8.4 (12E55)
Report Version:  10

Interval Since Last Report:          87458 sec
Crashes Since Last Report:           1
Per-App Crashes Since Last Report:   1
Anonymous UUID:                      B75796A0-CAFC-182C-DBCE-87C79045FF93

Crashed Thread:  0  Dispatch queue: com.apple.main-thread

Exception Type:  EXC_BAD_ACCESS (SIGSEGV)
Exception Codes: KERN_INVALID_ADDRESS at 0x0000000000000008

VM Regions Near 0x8:
--> 
    __TEXT                 000000010b97a000-000000010b9b5000 [  236K] r-x/rwx SM=COW  /Users/USER/*

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   octovis                         0x000000010b99dc03 CameraFollowMode::jumpToFrame(unsigned int) + 51
1   octovis                         0x000000010b99ff98 CameraFollowMode::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) + 904
2   QtCore                          0x000000010c86f7b3 QMetaObject::activate(QObject*, QMetaObject const*, int, void**) + 2259
3   octovis                         0x000000010b99fa3f ViewerSettingsPanelCamera::jumpToFrame(unsigned int) + 63
4   octovis                         0x000000010b99a240 ViewerSettingsPanelCamera::on_nextScanButton_clicked() + 48
5   octovis                         0x000000010b99f887 ViewerSettingsPanelCamera::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) + 471
6   octovis                         0x000000010b99fbf8 ViewerSettingsPanelCamera::qt_metacall(QMetaObject::Call, int, void**) + 56
7   QtCore                          0x000000010c86f8c4 QMetaObject::activate(QObject*, QMetaObject const*, int, void**) + 2532
8   QtGui                           0x000000010c13a050 QAbstractButton::clicked(bool) + 64
9   QtGui                           0x000000010bea23d2 QAbstractButtonPrivate::emitClicked() + 50
10  QtGui                           0x000000010bea2272 QAbstractButtonPrivate::click() + 226
11  QtGui                           0x000000010bea2ed9 QAbstractButton::mouseReleaseEvent(QMouseEvent*) + 89
12  QtGui                           0x000000010bf6670f QToolButton::mouseReleaseEvent(QMouseEvent*) + 15
13  QtGui                           0x000000010bbc01d4 QWidget::event(QEvent*) + 308
14  QtGui                           0x000000010bea2dfd QAbstractButton::event(QEvent*) + 205
15  QtGui                           0x000000010bf66bb9 QToolButton::event(QEvent*) + 169
16  QtGui                           0x000000010bb732ef QApplicationPrivate::notify_helper(QObject*, QEvent*) + 255
17  QtGui                           0x000000010bb7507d QApplication::notify(QObject*, QEvent*) + 2749
18  QtCore                          0x000000010c858701 QCoreApplication::notifyInternal(QObject*, QEvent*) + 113
19  QtGui                           0x000000010bb73c3e QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool) + 446
20  QtGui                           0x000000010bb247f1 qt_mac_handleMouseEvent(NSEvent*, QEvent::Type, Qt::MouseButton, QWidget*, bool) + 1025
21  com.apple.AppKit                0x00007fff927ee5d6 -[NSWindow sendEvent:] + 7053
22  QtGui                           0x000000010bb1c1ae -[QCocoaWindow sendEvent:] + 110
23  com.apple.AppKit                0x00007fff927ea644 -[NSApplication sendEvent:] + 5761
24  QtGui                           0x000000010bb20d7e -[QNSApplication sendEvent:] + 78
25  com.apple.AppKit                0x00007fff9270021a -[NSApplication run] + 636
26  QtGui                           0x000000010bb29903 QEventDispatcherMac::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) + 1219
27  QtCore                          0x000000010c855d45 QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) + 501
28  QtCore                          0x000000010c858c3e QCoreApplication::exec() + 206
29  octovis                         0x000000010b97de47 main + 167
30  libdyld.dylib                   0x00007fff89d997e1 start + 1

Thread 1:: Dispatch queue: com.apple.libdispatch-manager
0   libsystem_kernel.dylib          0x00007fff8ce47d16 kevent + 10
1   libdispatch.dylib               0x00007fff92253dea _dispatch_mgr_invoke + 883
2   libdispatch.dylib               0x00007fff922539ee _dispatch_mgr_thread + 54

Thread 0 crashed with X86 Thread State (64-bit):
  rax: 0x0000000000000000  rbx: 0x00007fb51ae196a0  rcx: 0x00007fb51a023200  rdx: 0x00000000000000fb
  rdi: 0x00000000000000fb  rsi: 0x0000000000000001  rbp: 0x00007fff54284470  rsp: 0x00007fff54284440
   r8: 0x000000000000001c   r9: 0x0000000067ded05b  r10: 0x00007fb515228d50  r11: 0x0000000072c04aa6
  r12: 0x00007fb51ae4afe0  r13: 0x00007fb51ae196a0  r14: 0x000000010b99fc10  r15: 0x000000000000000f
  rip: 0x000000010b99dc03  rfl: 0x0000000000010246  cr2: 0x0000000000000008
Logical CPU: 0

Binary Images:
       0x10b97a000 -        0x10b9b4ff7 +octovis (0) <0FCA4136-A456-3D06-BADB-588014EC487F> /Users/USER/*/octovis
       0x10b9d4000 -        0x10baa2fff +QtOpenGL (0) <FC275EBC-DA50-36E9-9300-4020A9F77004> /opt/local/Library/Frameworks/QtOpenGL.framework/Versions/4/QtOpenGL
       0x10bae9000 -        0x10c417ff7 +QtGui (0) <D9DD832D-9631-3BFD-8B88-E82642CB0CA1> /opt/local/Library/Frameworks/QtGui.framework/Versions/4/QtGui
       0x10c6da000 -        0x10c71afff +QtXml (0) <2DC8B60F-ED07-39F9-9A8E-1DC404792F64> /opt/local/Library/Frameworks/QtXml.framework/Versions/4/QtXml
       0x10c73b000 -        0x10c9d5ff7 +QtCore (0) <5D78BA77-D0E0-3859-861A-D51D70BD9633> /opt/local/Library/Frameworks/QtCore.framework/Versions/4/QtCore
       0x10ca83000 -        0x10caafff7 +liboctomap.dylib (0) <9BCD518C-8137-39F5-B309-11CB862E1D56> /Users/USER/*/liboctomap.dylib
       0x10cad1000 -        0x10cad5fff +liboctomath.dylib (0) <81DF933E-C860-3E8B-9252-872CD33DB6DF> /Users/USER/*/liboctomath.dylib
       0x10cadf000 -        0x10caebfff +liboctovis.dylib (0) <207A5F00-F37C-34CF-99EF-337E2DCB6911> /Users/USER/*/liboctovis.dylib
       0x10caf7000 -        0x10cafcfff  com.apple.agl (3.2.1 - AGL-3.2.1) <82AA78D1-159F-3B27-8CA5-1C227C956AC9> /System/Library/Frameworks/AGL.framework/Versions/A/AGL
       0x10cb05000 -        0x10cb80ff7 +libQGLViewer.2.dylib (0) <EA7318DC-B8D1-3CC1-9878-8ADB007758A1> /opt/local/lib/libQGLViewer.2.dylib
       0x10cbad000 -        0x10cbbefff +libz.1.dylib (0) <A9EB10A3-B238-3A9B-B23A-7FB5F5C9685E> /opt/local/lib/libz.1.dylib
       0x10cbc9000 -        0x10cbedfff +libpng15.15.dylib (0) <D7E684A1-6B2D-3731-B7E1-B68151F3DC89> /opt/local/lib/libpng15.15.dylib
       0x10d034000 -        0x10d034ffb +cl_kernels (???) <B9AE85DD-67CC-44C1-82A8-A29C9F4E5BEE> cl_kernels
       0x10e35c000 -        0x10e380ff7  com.apple.security.csparser (3.0 - 55179.13) <B85553DE-708C-3C20-93D5-70DC80068CE3> /System/Library/Frameworks/Security.framework/PlugIns/csparser.bundle/Contents/MacOS/csparser
       0x10e388000 -        0x10e441ff7  ColorSyncDeprecated.dylib (400) <3A647DD4-9BA1-3B5E-9680-64923371A9B7> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ColorSync.framework/Versions/A/Resources/ColorSyncDeprecated.dylib
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Add depth-parameter to search()

The ''search()''-function can be restricted by a depth at which to stop. The used key is converted accordingly by ''genKeyAtDepth()'' to be valid for given search depth.

Questions about parameters

I have a few questions about Octomap for the purpose of object model creation. I would greatly appreciate answers in this regard.

I first image is my octomapping result from feeding in multiple scans of a object that was detected in a pointcloud.

The second image is a sample pointcloud that I used as an input scan, the blue line connects the camera origin to the world frame origin.

I have several scans of the surface an object. I do not have any info on the red-rays (rays that miss the object). Is there a way to make fake red-ray measurements at infinity so that I can recover both purple and green cell information?
The crescent represents the envelope of pointcloud scans (that are noisily co-registered) in the same reference frame.

Get Neighbour-Nodes from a node

Is it possible to get neighbouring nodes from a node?
I would like to use the leaf_iterator (or tree_iterator) and to extract the information from the neighbours of every node.

Thank you!

Implement swap functionality for octrees

Replace content of one octree with content of other (similar to deepcopy). Should be as efficient as possible, e.g. for double buffering of changes.

@isucan should be able to provide details / use case 😉

Sonar measurement

Hi,

I've been looking at the code and I don't see any function for sonar measurements update but only for laser and pointclouds. Sonar measurements have a cone structure that has to be updated correctly in order to have a better estimate of our environment's belief. Is there anybody working on that? I've just started thinking about a workaround. Suggestions are welcome. And code even more ;)

Regards,

Sergi.

sync() wrapper for changedKeysBegin/End?

Hi,

I am trying to sync two timestamped octrees. One is being updated from sensor data in a separate thread. And the other, in the main thread, is synced periodically.

I'm using changedKeysBegin/End to get the changed keys, followed by keyToCoord() to get the node coordinate from key, search() to get the node from key, updateNode() to update the node logodds value in the outdated octree and setTimestamp() to update the timestamp. Then I wrap up by calling updateInnerOccupancy() (since I have lazy_eval = true) and resetChangeDetection().

The problem is when I compare octree sizes, they are not equal. Which brings me to my feature request: could you add a sync() function that will update an outdated octree with an updated one? Presumably, this sync function would call changedKeysBegin/End and do things correctly and efficiently.

In the mean time, I would appreciate any pointers on resolving my mismatched size issue.

Many thanks and keep up the good work!
Andrew Phan

Bad plugin XML export in ocotomap_mapping 0.4.6 on Fuerte

Version 0.4.6 of octomap_mapping released into Fuerte has a bad manifest in octomap_server; the plugin file plugins/nodelet_plugins.xml is not available.

(I'm not sure this is the right bug tracker for octomap_mapping, but the wiki links point here)

Delete nodes inside or outside selection box

Extend the functionality of editing an octomap through the selection box in octovis:
Requested additional functions

Fill selection with "unknown"
Fill all space outside selection with "unknown"

Hereby, "fill with unknown" should delete the corresponding nodes from the tree.

Building on OSX 10.9

Since OSX 10.9, clang defaults to libc++, causing an error when trying to include <tr1/unordered_set>

This should just be <unordered_set> and all std::tr1 namespaces should just be std::

If I have the time I will make this into a pull request..

Compiling Octomap under Windows 7 VC++2008, linker error DLL paths

While compiling Octomap liboctomap.dll was not found by exampleEDT3D, exampleEDTOctomap, octovis.
Visual produces this DLL for debug in c:/octomap-1.6.1/lib/debug, for release in c:/octomap-1.6.1/lib/release. In the output the missing lib was supposed to be in ......\lib\liboctomap.dll (not divided to release and debug). How to force cmake configs to set dll paths correctly ?

Add automated "release" target / script for git tagging and increasing the version in CMakeLists

The git tag version and OCTOMAP_VERSION in CMakeLists should always match. This should be verified or automatically increased with a release script.

Is it possible to get the size of a node from inside the node?

First of all,
thank you very much for the great framework!

Is it possible to access the size of a node from a node class?
I would like to visualize the node depending on its size (eg. resolution).

Thank you very much!

Set Nodes to free takes multiple tries

When using the "set nodes in selection to free" editing mode not all occupied nodes are free afterwards.

Using the same option multiple times works.

I'm not sure if that is supposed to be a feature, but it seems unintuitive to me.

Implement variant of updateNode() to directly set value

Set absolute value of nodes (incl. inner update / pruning) instead of relative change, e.g. to set nodes to be at the "free" threshold.

Can't generate with CMake on VS2010 even with libQGLviewer compiled

Here's my QGLViewer properties (removed the prefix as the README told me to):

The DLL is generated in octovis\src\extern\QGLViewer. However, when attempting to generate a VS2010 project with CMake, I get:

Improve performance of prune()

Pruning is now mostly "brute-force" and executed recursively for each tree level. This could be optimized in one run, or partial pruning integrated in updateNodeRecurs().

exported include/libary dirs wrong when paths contain spaces

The generated CMake config file does not quote the OCTOMAP_INCLUDE_DIRS / OCTOMAP_LIBRARY_DIRS. In a workspace containing spaces the wrong include/library dirs break downstream packages from finding octomap headers and libraries.

Building octovis on linux fails

Under Xubuntu 12.04 64-bit with gcc/g++ 4.6.3

paschos@mypc:~/octomap-1.6.1/octovis/build$ cmake ..
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done

-- octovis building as Release
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/x86_64-linux-gnu/libX11.so
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found.
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found.
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found.
-- Found Qt4: /usr/bin/qmake (found version "4.8.1")
-- QGLViewer includes found in /usr/include/QGLViewer
-- qglviewer-qt4 found in /usr/lib/x86_64-linux-gnu/libqglviewer-qt4.so

-- viewer octovis will be built
-- Found Qt4: /usr/bin/qmake (found version "4.8.1")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/paschos/octomap-1.6.1/octovis/build
paschos@mypc:~/octomap-1.6.1/octovis/build$ make
Scanning dependencies of target octovis-shared
[ 2%] Building CXX object CMakeFiles/octovis-shared.dir/src/SceneObject.cpp.o
[ 5%] Building CXX object CMakeFiles/octovis-shared.dir/src/PointcloudDrawer.cpp.o
[ 8%] Building CXX object CMakeFiles/octovis-shared.dir/src/OcTreeDrawer.cpp.o
[ 10%] Building CXX object CMakeFiles/octovis-shared.dir/src/SelectionBox.cpp.o
[ 13%] Building CXX object CMakeFiles/octovis-shared.dir/src/TrajectoryDrawer.cpp.o
[ 16%] Building CXX object CMakeFiles/octovis-shared.dir/src/ColorOcTreeDrawer.cpp.o
Linking CXX shared library ../lib/liboctovis.so
[ 16%] Built target octovis-shared
[ 18%] Generating qrc_icons.cxx
[ 21%] Generating ui_ViewerGui.h
[ 24%] Generating ui_ViewerSettings.h
[ 27%] Generating ui_ViewerSettingsPanel.h
[ 29%] Generating ui_ViewerSettingsPanelCamera.h
[ 32%] Generating include/octovis/moc_ViewerGui.cxx
[ 35%] Generating include/octovis/moc_ViewerWidget.cxx
[ 37%] Generating include/octovis/moc_ViewerSettings.cxx
[ 40%] Generating include/octovis/moc_ViewerSettingsPanel.cxx
[ 43%] Generating include/octovis/moc_ViewerSettingsPanelCamera.cxx
[ 45%] Generating include/octovis/moc_CameraFollowMode.cxx
Scanning dependencies of target octovis
[ 48%] Building CXX object CMakeFiles/octovis.dir/src/main.cpp.o
[ 51%] Building CXX object CMakeFiles/octovis.dir/src/ViewerGui.cpp.o
/home/paschos/octomap-1.6.1/octovis/src/ViewerGui.cpp: In member function ‘void octomap::ViewerGui::generateOctree()’:
/home/paschos/octomap-1.6.1/octovis/src/ViewerGui.cpp:317:13: error: ‘class octomap::OcTree’ has no member named ‘insertPointCloud’
/home/paschos/octomap-1.6.1/octovis/src/ViewerGui.cpp: In member function ‘void octomap::ViewerGui::addNextScan()’:
/home/paschos/octomap-1.6.1/octovis/src/ViewerGui.cpp:371:30: error: ‘class octomap::OcTree’ has no member named ‘insertPointCloud’
make[2]: *** [CMakeFiles/octovis.dir/src/ViewerGui.cpp.o] Error 1
make[1]: *** [CMakeFiles/octovis.dir/all] Error 2
make: *** [all] Error 2

General Factory-based file IO to .bt for all OccupancyOcTrees

Apply the general file IO for .ot files (introduced in 1.4) also to all occupancy-based trees when writing to .bt. The current write/readBinary methods only exists in a templated base class. To also use the Factory pattern a common abstract occupancy base class is needed. A proper file header is already written to the new .bt files.

Reading .ot (Visual Studio): tree type isn't registered therefore read() fails

Hi,

As discussed in the Google Groups, there seems to be an issue with Visual Studio and the File Factory pattern when trying to read in .ot trees. The expected behavior is that the tree type should be recognized when being read from file, but the static member initialization technique which should register the tree type doesn't work in this setup, which results in an unrecognized tree type when trying to load it.

System: Windows 7 64 bit, Windows SDK 7.1, Visual Studio 2010, octomap-1.6.1

Example which shows the behavior:

OcTree tree (0.01);
tree.write("simple_tree.ot");
AbstractOcTree * readTree = AbstractOcTree::read("simple_tree.ot");
if(readTree) {
OcTree * storedTree = dynamic_cast<OcTree*>(readTree);
} else {
// couldn't load tree
}

The tree can not be read in from file. The problem is that the instantiation of a new OcTree should result in the creation of the static StaticMemberInitializer ocTreeMemberInit which is defined in OcTree.h and subsequently register the tree type. Loading from file could then associate the stored file with this tree type. This seems to be an issue with the Visual Studio compiler.

One possible workaround is to put a function "void dummy() {} ;" in the class StaticMemberInitializer and calling it from within the OcTree constructor. I tried that and apparently this doesn't get optimized away, but it adds of course some bloat and is uncleaner / less comprehensible.

Best,
Christian

Compiling dynamicEDT3D under Windows 8 (MinGW)

After following the instructions posted here, I get these results:

[  5%] Built target octomath
[ 11%] Built target octomath-static
[ 30%] Built target octomap
[ 32%] Built target binvox2bt
[ 33%] Built target bt2vrml
[ 35%] Built target compare_octrees
[ 37%] Built target convert_octree
[ 39%] Built target edit_octree
[ 41%] Built target eval_octree_accuracy
[ 43%] Built target graph2tree
[ 45%] Built target log2graph
[ 47%] Built target normals_example
[ 66%] Built target octomap-static
[ 67%] Built target simple_example
[ 69%] Built target color_tree_histogram
[ 71%] Built target test_changedkeys
[ 73%] Built target test_color_tree
[ 75%] Built target test_io
[ 77%] Built target test_iterators
[ 79%] Built target test_lut
[ 81%] Built target test_mapcollection
[ 83%] Built target test_pruning
[ 84%] Built target test_raycasting
[ 86%] Built target test_scans
[ 88%] Built target unit_tests
[ 90%] �[32mBuilding CXX object dynamicEDT3D/src/CMakeFiles/dynamicedt3d.dir/dynamicEDTOctomap.cpp.obj
�[0mdynamicEDT3D\src\CMakeFiles\dynamicedt3d.dir\build.make:81: recipe for target 'dynamicEDT3D/src/CMakeFiles/dynamicedt3d.dir/dynamicEDTOctomap.cpp.obj' failed
CMakeFiles\Makefile2:1148: recipe for target 'dynamicEDT3D/src/CMakeFiles/dynamicedt3d.dir/all' failed
Makefile:145: recipe for target 'all' failed

I am using Win8 x64 but used 32bit cmake and MinGW, if it is useful.

Make octovis optional in the main cmake project

Hi,

I'm currently using the octomap project in a small C++ module that will be used as part of a larger application that's based on the octomap already. I'm including octomap as a downlodable external project in my own CMAKE and I had to work on the proper CMAKE setup quite a bit to make it only compile the actual octomap and leave octovis aside (since octovis required QGL and I don't want the dependency and/or build errors and also to keep the project smaller)

If you could make octovis optional in your main CMAKE project that would be great. Something like this :

option(BUILD_OCTOVIS_SUBPROJECT "Build targets from subproject octovis" ON)
...
add_subdirectory(octomap)
if(BUILD_OCTOVIS_SUBPROJECT)
add_subdirectory(octovis)
endif()

Then I (and maybe others) could still use ExternalProject_add to download the octomap sources from GitHub and simply set the option to not compile octovis as well. It seems like it would be small effort on your side and could provide a lot of comfort to me and others. Also my cmake project could more easily include a future version of octomap even if you decide to change your project structure for some reason.

I understand it's not such a critical change but if you can find the time to include it at some point I'm sure someone will be happy about it in the future.

Best regards and great job nonetheless!
Caspar

test_pruning fails under Windows

Hi,

the test case test_pruning fails under Windows 64bit Visual Studio 2010 for unknown reason. This is a minimal code example which shows the same behavior:

double res = 0.01;
OcTree tree(res);

for (double x=0.005; x <= 0.32; x+=res){
    for (double y=0.005; y <= 0.32; y+=res){
        for (double z=0.005; z <= 0.32; z+=res){                
            OcTreeNode* node = tree.updateNode(x,y,z, true);
            /*if(!tree.isNodeOccupied(node)) {
                node = tree.search(x,y,z);
            }*/
            EXPECT_TRUE(node);
            EXPECT_TRUE(tree.isNodeOccupied(node));
        }
    }
}

In this setup, it will return false for tree.isNodeOccupied(node) for (x,y,z) = (0.015, 0.015, 0.015) and I have no idea why. It works under Linux though. If you add the commented part (tree.search()) then you will notice that this function returns another pointer than tree.updateNode(), and then isNodeOccupied yields true. Do you have any idea why this code doesn't work?

Edit: so everything I stated above is true for when you compile it in Debug mode, but there seems to be no problem in Release mode?!

Best,
Christian

compilation issue with gcc 4.8 with the Groovy release

4.8 is tighther and you fixed it in devel, but I believe it's not released yet:

In file included from /opt/ros/groovy/include/octomap/OccupancyOcTreeBase.h:43:0,
from /opt/ros/groovy/include/octomap/OcTree.h:38,
from /opt/ros/groovy/include/octomap/octomap.h:37,
from /opt/ros/groovy/include/moveit/distance_field/propagation_distance_field.h:46,
from /home/vrabaud/workspace/recognition_kitchen_groovy/src/ork_tabletop/src/object/model_fitter.cpp:39:
/opt/ros/groovy/include/octomap/OcTreeBaseImpl.h: In instantiation of ‘class octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>’:
/opt/ros/groovy/include/octomap/OccupancyOcTreeBase.h:68:9: required from ‘class octomap::OccupancyOcTreeBaseoctomap::OcTreeNode’
/opt/ros/groovy/include/octomap/OcTree.h:49:25: required from here
/opt/ros/groovy/include/octomap/OcTreeBaseImpl.h:149:20: error: cannot allocate an object of abstract type ‘octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>’
OcTreeBaseImpl deepCopy() const;
^
In file included from /opt/ros/groovy/include/octomap/OccupancyOcTreeBase.h:43:0,
from /opt/ros/groovy/include/octomap/OcTree.h:38,
from /opt/ros/groovy/include/octomap/octomap.h:37,
from /opt/ros/groovy/include/moveit/distance_field/propagation_distance_field.h:46,
from /home/vrabaud/workspace/recognition_kitchen_groovy/src/ork_tabletop/src/object/model_fitter.cpp:39:
/opt/ros/groovy/include/octomap/OcTreeBaseImpl.h:72:9: note: because the following virtual functions are pure within ‘octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>’:
class OcTreeBaseImpl : public INTERFACE {

You removed deepCopy() so things should be fine now. Thx.

Improve doxygen online documentation

The online documentation accessible via [http://octomap.sourceforge.net/doxygen] could provide a search functionality as long as the server's performance permits this. An according option can be activated during doxygen generation.

Further an alphabetical sorting of class members is useful for better orientation when reading through documentation of listed data structures.

OctoMap with CUDA or OpenCL

I think it'll be cool to have OctoMap implemented in CUDA or OpenCL to speed things up even more.

Compiling Octomap under Windows 7 VC++2008, CMake warning (Qt4)

Whilie generating Visual Studio *.sln CMake 2.8.10.1 shows warning. The produced *.sln has improper lib dependencies. The same situation appears with octomap 1.6.1, 1.6.0. Is this a bug or CMake (gui) problem?

CMAKE WARNING
Make Warning (dev) at octovis/CMakeLists_src.txt:96 (add_executable):
  Policy CMP0008 is not set: Libraries linked by full-path must have a valid
  library file name.  Run "cmake --help-policy CMP0008" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  Target "octovis" links to item

    C:/octomap-1.6.1/lib/liboctomap.so

  which is a full-path but not a valid library file name.
Call Stack (most recent call first):
  octovis/CMakeLists.txt:72 (INCLUDE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at octovis/CMakeLists_src.txt:96 (add_executable):
  Policy CMP0008 is not set: Libraries linked by full-path must have a valid
  library file name.  Run "cmake --help-policy CMP0008" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  Target "octovis" links to item

    C:/octomap-1.6.1/lib/liboctomath.so

  which is a full-path but not a valid library file name.
Call Stack (most recent call first):
  octovis/CMakeLists.txt:72 (INCLUDE)
This warning is for project developers.  Use -Wno-dev to suppress it.

Compiling with gcc 4.7.3

Newer versions of gcc (I think starting with 4.7.0) are not quite as permissive with unqualified lookups, and there are compile errors in octomap in OccupancyOcTreeBase.hxx.

Specifically, calls to isNodeOccupied need to be replaced with this->isNodeOccupied in lines 287, 291, 398, 494, 827, 839, 895, 903.

The same is true for isNodeAtThreshold on line 324.

Compiling Issue on Mac OSX 10.8

Hello,

I downloaded your recent release of OctoMap - it looks great! I compiled and have a working example on my Linux Mint 64 bit machine. I am trying to port some code for use on my Mac. Following the simple installation method, I ran into difficulties.

mkdir build
cd build
cmake ..
This yields: http://pastebin.com/B6bgDUUu

make
This yields, in stderr: http://pastebin.com/wvGgyqxR
In stdout: http://pastebin.com/sS6HwXuC

I am not sure, but it may be related to clang:
http://clang.llvm.org/compatibility.html#cxx

Please let me know if you need anything else, or would like me to modify anything. Thanks a ton for your support.

Sincerely,
Steve McGill

Depth-restricted iterator returns root

When using tree- or leaf-iterators with depth-restriction, the root node is returned by default if no node/leaf was found at the specified depth. The root is obviously ''not'' at the requested depth, which has to be > 0 at all time. This makes additional depth-checking necessary for nodes returned by the iterator if one is interested in nodes only at this certain depth.

Add lazy evaluation for insertRay-method

Method ''insertRay'' in octomap::OccupancyOcTreeBase usually invokes multiple calls to ''updateNode'' without lazy evaluation (lazy_eval) per default. Enabling lazy evaluation for ''insertRay'' will speed up insertion of a bunch of rays. Still ''updateInnerOccupancy'' must be called consciously after insertion procedure.

Add absolute path to library names in generated CMake config

Adding the absolute paths to library names in OCTOMAP_LIBRARIES seems to be more reliable than adding the directory to OCTOMAP_LIBRARY_DIRS (see OpenCV config).

Unit tests on Mac OSX

Some units tests seem to fail under OSX, as reported by @smcgill3:

Running tests...
Test project /Users/stephen/src/octomap/octomap
      Start  1: MathVector
 1/14 Test  #1: MathVector .......................   Passed    0.00 sec
      Start  2: MathPose
 2/14 Test  #2: MathPose .........................   Passed    0.00 sec
      Start  3: InsertRay
 3/14 Test  #3: InsertRay ........................   Passed    1.09 sec
      Start  4: CastRay
 4/14 Test  #4: CastRay ..........................   Passed    0.45 sec
      Start  5: InsertScan
 5/14 Test  #5: InsertScan .......................   Passed    0.49 sec
      Start  6: ReadGraph
 6/14 Test  #6: ReadGraph ........................   Passed    0.02 sec
      Start  7: StampedTree
 7/14 Test  #7: StampedTree ......................***Failed    1.23 sec
      Start  8: OcTreeKey
 8/14 Test  #8: OcTreeKey ........................   Passed    0.01 sec
      Start  9: OcTreeIterator
 9/14 Test  #9: OcTreeIterator ...................   Passed    0.02 sec
      Start 10: test_pruning
10/14 Test #10: test_pruning .....................   Passed    0.03 sec
      Start 11: test_iterators
11/14 Test #11: test_iterators ...................   Passed    0.67 sec
      Start 12: test_io
12/14 Test #12: test_io ..........................   Passed    0.49 sec
      Start 13: test_mapcollection
13/14 Test #13: test_mapcollection ...............   Passed    0.22 sec
      Start 14: test_color_tree
14/14 Test #14: test_color_tree ..................***Exception: Other  0.13 sec

86% tests passed, 2 tests failed out of 14

Total Test time (real) =   4.88 sec

The following tests FAILED:
      7 - StampedTree (Failed)
     14 - test_color_tree (OTHER_FAULT)

./test_color_tree
test_color_tree(641) malloc: *** error for object 0x7fecb9415508: incorrect checksum for freed object - object was probably modified after being freed.
*** set a breakpoint in malloc_error_break to debug
Abort trap: 6

I ran valgrind: stderr: http://pastebin.com/3rwqP9iB
stdout seems to indicate it worked, when under valgrind: http://pastebin.com/AQ3KYe4x

test_pruning yeilds an error:

test failed (EXPECT_TRUE) in /Users/stephen/src/octomap/octomap/src/testing/test_pruning.cpp, line 84

The stamped tree unit test works once in a while, but its error is:

After 1st update (cube): Tree time 1365441319; node(0.1, 0.1, 0.1) time 1365441319
After 2nd update (single miss): Tree time 1365441319; node(0.1, 0.1, 0.1) time 1365441319
After 3rd update (single hit at (0.1, 0.1, 0.3): Tree time 1365441320; node(0.1, 0.1, 0.1) time 3221227518; node(0.1, 0.1, 0.3) time 1365441320
test failed (EXPECT_TRUE) in /Users/stephen/src/octomap/octomap/src/testing/unit_tests.cpp, line 300

search method ignores depth of the passed key

When I generate a key, at a given depth using

octomap::OcTreeKey neighbor_key, start_key;
start_key=tree->coordToKey(x[0], x[1], x[2], depth); //let's say depth is 7

and then compute its neighbouring key using the LUT module

octreeLUT.genNeighborKey(start_key, static_cast<octomap::OcTreeLUT::NeighborDirection>(0), neighbor_key);

the search method

NodeType* nn_node=tree->search(neighbor_key, depth);

returns always the same node.
This is because in line
https://github.com/OctoMap/octomap/blob/devel/octomap/include/octomap/OcTreeBaseImpl.hxx#L326

the key is adjusted, since the method "search(...)" expects a key at the highest tree level (usually 16).

However, I would like to get neighbouring nodes at level 7 (as in the example above).

Do I do something wrong or is it just an "unforeseen" case?

Many thanks for the hints!

octomap_server nodelet

In current groovy deb, I found that octomap_server nodelet launch file is not working.
I post this here because I couldn't find issue tracker for octomap_server.

System ubuntu 12.04
ROS version : groovy

[ERROR] [1371023473.053203839]: Failed to load nodelet [/octomap_server_nodelet] of type [octomap_server/OctomapServerNodelet]: According to the loaded plugin descriptions the class octomap_server/OctomapServerNodelet with base class type nodelet::Nodelet does not exist. Declared types are  cmd_vel_mux/CmdVelMuxNodelet depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image kobuki_auto_docking/AutoDockingNodelet kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_node/KobukiNodelet kobuki_safety_controller/SafetyControllerNodelet kobuki_shooter/ShooterControllerNodelet kobuki_softnode/SoftKobukiNodelet nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 uvc_camera/CameraNodelet uvc_camera/StereoNodelet yocs_velocity_smoother/VelocitySmootherNodelet
[FATAL] [1371023473.053479038]: Service call failed!
[octomap_server_nodelet-2] process has died [pid 11793, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load octomap_server/OctomapServerNodelet standalone_nodelet octomap_server_nodelet/cloud_in:=cloud_in octomap_server_nodelet/collision_map_out:=collision_map_out __name:=octomap_server_nodelet __log:=/home/jihoonl/.ros/log/da46713a-d330-11e2-b8bf-20689df5aa4b/octomap_server_nodelet-2.log].
log file: /home/jihoonl/.ros/log/da46713a-d330-11e2-b8bf-20689df5aa4b/octomap_server_nodelet-2*.log