computeUpdate is quiet slow

[Splayshell]

if (this->computeRayKeys(origin, p, *keyray)){
#ifdef _OPENMP
#pragma omp critical (free_insert)
#endif
{
free_cells.insert(keyray->begin(), keyray->end());
}
}

for key in keyray, if octomap.(key) == false, why updateNode is neccessary. And in most cases, most free_cells in keyrays don't have voxel before

[ahornung]

I don't fully understand the question. Did you have a look at the OctoMap journal paper? It explains the raycasting and clearing behavior. Explicitly setting the free cells is needed for clearing obstacles.