OctoMap - A probabilistic, flexible, and compact 3D mapping library for robotic systems.
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. http://octomap.github.com
Further Contributors:
- C. Sprunk, University of Freiburg
- J. Mueller, University of Freiburg
- S. Osswald, University of Freiburg
- R. Schmitt, University of Freiburg
- R. Bogdan Rusu, Willow Garage Inc.
- C. Dornhege, University of Freiburg
License:
- octomap: New BSD License
- octovis and related libraries: GPL
Download the latest releases: https://github.com/octomap/octomap/tags
API documentation: http://octomap.github.com/octomap/doc/
Report bugs and request features in our tracker: https://github.com/OctoMap/octomap/issues
A list of changes is available in the octomap changelog
OVERVIEW
OctoMap consists of two separate libraries each in its own subfolder: octomap, the actual library, and octovis, our visualization libraries and tools. This README provides an overview of both, for details on compiling each please see octomap/README.md and octovis/README.md respectively. See http://www.ros.org/wiki/octomap and http://www.ros.org/wiki/octovis if you want to use OctoMap in ROS; there are pre-compiled packages available.
You can build each library separately with CMake by running it from the subdirectories, or build octomap and octovis together from this top-level directory. E.g., to only compile the library, run:
cd octomap
mkdir build
cd build
cmake ..
make
To compile the complete package, run:
cd build
cmake ..
make
Binaries and libs will end up in the directories bin and lib of the
top-level directory where you started the build.
See octomap README and octovis README for further details and hints on compiling, especially under Windows.