OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
Originally developed by Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2014. Currently maintained by Armin Hornung. See the list of contributors for further authors.
- octomap: New BSD License
- octovis and related libraries: GPL
Download the latest releases: https://github.com/octomap/octomap/releases
API documentation: https://octomap.github.io/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
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
lib of the
top-level directory where you started the build.
Alternatively, you can build and install octomap using vcpkg dependency manager:
git clone https://github.com/Microsoft/vcpkg.git cd vcpkg ./bootstrap-vcpkg.sh ./vcpkg integrate install ./vcpkg install octomap
The octomap port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please create an issue or pull request on the vcpkg repository.
See octomap README and octovis README for further details and hints on compiling, especially under Windows.