Using OctoMap for large coordinates

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Leon I

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Dec 5, 2019, 4:27:59 AM12/5/19
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Hey,

in the OctoMap paper is stated, that the current implementation only supports distances to 2^16m but can be extended to 2^32m.
I want to use OctoMap for global UTM coordinates, which are too big for the current implementation.
Has anyone already extended the current version to 2^32m or knows, which headers and source files to edit?

Thanks!
Leon

Leon I

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Dec 10, 2019, 7:19:57 AM12/10/19
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I found this related post: https://groups.google.com/forum/#!msg/octomap/R2JdgPDgl9Y/CWdP9bl9ODsJ;context-place=msg/octomap/mqQVoX7k2Uo/FTKag6bpxCEJ
Did you receive any updated version/git diffs or do I have to implement it myself?

Armin Hornung

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Dec 11, 2019, 1:34:36 PM12/11/19
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Hello Leon,

Yes, there is a pull request here:
https://github.com/OctoMap/octomap/pull/116

It directly modified the OcTree class to extend the range, so the change
was not compatible to merge. But it could give you an idea.


The question is though, if you really need to insert your data in a
global UTM coordinate system. Maybe it's sufficient to transform from
UTM into a locally restricted region, which then fits into the default
OctoMap range.


Best regards,

Armin


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