OctoMap on Android

[bharat tak]

Hello!

I am working on a project that involves building an occupancy grid using OctoMap on Android(galaxy s3) given disparity maps from an external source. I've been working with octomap on linux. Has someone already ported octomap to android ? Is it non trivial ? 

Thanks,

Tak

[Kai M. Wurm]

Hi!

Not that I know of but do keep us updated on that!
Would be totally awesome :-)

Best, Kai

[bharat tak]

Hi!

I wanted to know whether it's advisable to port the native version of OctoMap to android with java wrappers or the ros version. Does the ROS version use rosjava ?

I have an opencv app running that converts stereo images into pointcloud files. On desktop, I've used OctoMap to create occupancy maps with these point cloud file. I have to do it on Android now. I guess I'll be following the generic 'C++ libraries to JNI' methodology, but I was wondering whether it'd be easier to use OctoMap ros, since I've seen some ROS fuerte ports for android.

I'd appreciate your views on this.

Regards,

Tak

[Armin Hornung]

On 2014-04-25 09:05, bharat tak wrote:
> I wanted to know whether it's advisable to port the native version of
> OctoMap to android with java wrappers or the ros version. Does the ROS
> version use rosjava ?

There is no difference between the versions released for ROS and the
upstream sources. The release process uses bloom with the tagged source
releases, which are then built with CMake. Only the packages
octomap_ros, octomap_msgs and octomap_server require ROS. Afaik there is
no version of OctoMap available with Java wrappers or rosjava (although
Google may have used something in that direction with Project Tango:
http://osrfoundation.org/blog/project-tango-announced.html ).

Keep us updated!

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

[bharat tak]

I have an app running octomap with opencv running on android. It takes disparity images as input, uses opencv to extract range data, and then uses octomap to create an occupancy map.

Although octovis runs only on desktop, so you have to throw the tree file back to the PC to visualize it.

https://github.com/devbharat/3dmapper

Best,
Bharat Tak