Merging octomaps efficiently?

[Sergi Foix]

Hi, 

Is there any way to easily merge different octomaps into one? I mean without adding one-by-one each of its nodes ;)

Regards,

Sergi.

[Armin Hornung]

On 2014-07-01 13:24, Sergi Foix wrote:
> Hi,
>
> Is there any way to easily merge different octomaps into one? I mean
> without adding one-by-one each of its nodes ;)

No, there's no such functionality available. In some cases it could work
very efficiently by inserting the pointer to an existing node into the
new tree (thus reparenting the complete subtree), but there's a big
number of prerequisites: same map origin, same resolution, target node
had no children before...

Best,

--
Dr. Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universitaet Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga