/Spatial-Hash

Minimal C++ library for spatial data structures based on voxel-block-hashing

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Build and Test

Spatial Hash

A minimal library for spatial data structures based on voxel-block-hashing.

Table of contents

Credits

This library was inspired by data structures used in voxblox. It was developed by Lukas Schmid at the MIT-SPARK Lab and is released under a BSD-3-Clause License! Additional contributions welcome! This work was supported in part by the Swiss National Science Foundation and Amazon.

Installation

  1. Install dependencies:

    sudo apt install libeigen3-dev libgoogle-glog-dev libgtest-dev

    Alternatively, if building with catkin or ROS,

    rosdep install --from-paths . --ignore-src -r -y

    will install all required dependencies (from either the src directory of the workspace or the repo directory itself).

  2. Clone repository:

    cd ~/catkin_ws/src
git clone git@github.mit.edu:SPARK/Spatial-Hash.git spatial_hash

  3. Build & install via cmake:

    cd spatial_hash
mkdir build
cd build
cmake ..
make -j

# optionally install this package
sudo make install

    For ROS, build via catkin:

    catkin build spatial_hash

  4. Setup pre-commit for contributing:

    pip install pre-commit
pre-commit install