Spatial Hash

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

Table of contents

• Credits
• Installation

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