octomap::OccupancyOcTreeBase with lazy_eval = false or True

Posted by heshamhendy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/octomap-OccupancyOcTreeBase-with-lazy-eval-false-or-True-tp9258.html

I was wondering how the OcTree is built the reason is I do have limited computational power and I was looking into possibilities of load reduction caused through OcTree. There are many possibilities to do process it after subscribe the topic. However I'm not sure how the OcTree is updated. As stated in the implementation (https://octomap.github.io/octomap/doc/classoctomap_1_1OccupancyOcTreeBase.html)  the tree can be converted into multi-resolution if it's built with lazy evaluation. Can anybody confirm if it's built with or without lazy evaluation?


I would be grateful if I hear suggestions about ideas to optimize the tree after subscribing the tree. I already took some measurements like subscribing to the binary version and pruning. Yet I'm interested to do more...

Cheers