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Super Rays and Culling Region for Real-Time Updates on Grid-based Occupancy Maps

Home Page: http://sgvr.kaist.ac.kr/~yskwon/papers/tro19-superray-cullingregion/

License: BSD 3-Clause "New" or "Revised" License

C++ 93.43% CMake 4.56% C 2.01%

superray's Issues

Unable to use superray_octomap

Hi!

I am trying to use your fancy superray octomap on my project but it seems to have some problem on compilation. I thought it should be resulted from my wrong CMakelists.

However, same problem appeared when I add one extra line to octomap_visualizer_node.cpp in your provided visualizer. I inserted octomap::CullingRegionOcTree tmp_tree(0.1); ahead of the main function as a global variable as following while keeping all the other things unchanged.

Would you please help my to solve this problem?

Many thanks!

@PinocchioYS

Update:
I modified the inserted line as following and the compilation passed (see below)

But a new problem here QAQ

Seems like something went wrong on the symbol link.

HELP!!!

compile error?

when I compile this library ,the following error appear:

how can I do?

Error: implicitly-declared

Hi!

When I make this repo, I met the following error:

/home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp: In member function ‘void octomap::SuperRayGenerator::GenerateSuperRay2D(const point3d_collection&, octomap::SuperRayGenerator::Axis3D&, octomap::SuperRayGenerator::VoxelInfo&, std::vector<octomap::SuperRay>&)’:
/home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp:157:22: error: implicitly-declared ‘octomap::SuperRay& octomap::SuperRay::operator=(const octomap::SuperRay&)’ is deprecated [-Werror=deprecated-copy]
  157 |     superrays[idx] = sr; // Create a new super ray
      |                      ^~
In file included from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRayCloud.h:35,
                 from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRayGenerator.h:36,
                 from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp:30:
/home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRay.h:41:3: note: because ‘octomap::SuperRay’ has user-provided ‘octomap::SuperRay::SuperRay(const octomap::SuperRay&)’
   41 |   SuperRay(const SuperRay& _other) : p(_other.p), w(_other.w) {}
      |   ^~~~~~~~
/home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp: In member function ‘void octomap::SuperRayGenerator::GenerateSuperRay3D(const point3d_collection&, octomap::SuperRayGenerator::Axis3D&, octomap::SuperRayGenerator::VoxelInfo&, std::vector<octomap::SuperRay>&)’:
/home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp:239:24: error: implicitly-declared ‘octomap::SuperRay& octomap::SuperRay::operator=(const octomap::SuperRay&)’ is deprecated [-Werror=deprecated-copy]
  239 |     superrays[index] = sr; // Create a new super ray
      |                        ^~
In file included from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRayCloud.h:35,
                 from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRayGenerator.h:36,
                 from /home/xzc/RL_ITG_ws/src/SuperRay/octomap/src/SuperRayGenerator.cpp:30:
/home/xzc/RL_ITG_ws/src/SuperRay/octomap/include/octomap_superray/SuperRay.h:41:3: note: because ‘octomap::SuperRay’ has user-provided ‘octomap::SuperRay::SuperRay(const octomap::SuperRay&)’
   41 |   SuperRay(const SuperRay& _other) : p(_other.p), w(_other.w) {}
      |   ^~~~~~~~
cc1plus: all warnings being treated as errors
make[2]: *** [octomap/src/CMakeFiles/octomap.dir/build.make:193: octomap/src/CMakeFiles/octomap.dir/SuperRayGenerator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1315: octomap/src/CMakeFiles/octomap.dir/all] Error 2
make: *** [Makefile:163: all] Error 2

I'm using ROS-Noetic and successfully build octomap lib with the 1.9.7 version in the same workspace.

Would you mind giving me a hint on how to get rid of this error?

Thanks in advance!

sample data request

Can you provide some sample data to run the example? Appreciated.

Is there any example/document to demonstrate how to use the SuperRay lib to subscribe pointcloud msg and create gridmap in realtime?

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