How to use OctoMap integration with RTabMap

[hashFactory]

Hello! I've starting integrating RTabMap into my iOS app and was wondering how feasible / how to go about using OctoMap from within the iOS part of RTabMap. My goal is simply to have a voxelized version of RTabMap's representation of the scene as it's mapping in real-time instead of having the current textured mesh representation.

I managed to build the iOS app with OctoMap included (so I can use #include <rtabmap/core/global_map/OctoMap.h>) but I'm a little bit confused about using Octomap.h since it doesn't seem to be used anywhere else in the code.

Any insight would be really appreciated! Thank you!

[matlabbe]

We use primarily OctoMap in ROS. The standalone app can still show the OctoMap, so you can look how it updates it in MainWindow, basically:

// init:
rtabmap::LocalGridCache cache;
OctoMap octomap(&cache, parameters);

// update cache when receiving a new signature
cv::Mat ground;
cv::Mat obstacles;
cv::Mat empty;
signature->sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles, &empty);
cache.add(signature->id(), ground, obstacles, empty, resolution, signature->sensorData().gridViewPoint());

// update octomap with latest poses
octomap.update(poses);

// generate point cloud from OctoMap (or iterate directly the OctoMap when rendering)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap.createCloud(16);

Make sure RGBD/CreateOccupancyGrid is true (it is disabled by default in iOS app).